NDLI: Stereo-based simultaneous localization, mapping and moving object tracking

Content Provider	IEEE Xplore Digital Library
Author	Kuen-Han Lin Chieh-Chih Wang
Copyright Year	2010
Description	Author affiliation: Department of Computer Science and Information Engineering and the Graduate Institute of Networking and Multimedia, National Taiwan University, Taipei, Taiwan (Kuen-Han Lin; Chieh-Chih Wang)
Abstract	Vision based simultaneous localization and mapping (SLAM) has recently received much research interest. However, vision based SLAM could be corrupted with the inclusion of moving entities, which makes it hard to operate in dynamic environments. Simultaneous localization, mapping and moving object tracking (SLAMMOT) serves as a solution to deal with moving objects while performing SLAM. The existing work has shown the feasibility of monocular SLAMMOT in dynamic environments. However, monocular SLAMMOT inherits the observability issue of bearings-only tracking in which moving entities would be unobservable according to motions of the camera and moving objects. In this paper, stereo-based SLAMMOT is proposed to solve the observability issue as well as increase the accuracy of localization, mapping and tracking. Simulation and experimental results demonstrate that the proposed stereo SLAMMOT is superior than monocular SLAMMOT in dynamic environments.
Starting Page	3975
Ending Page	3980
File Size	1771678
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649653
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Simultaneous localization and mapping Trajectory Uncertainty Feature extraction Tracking Observability
Content Type	Text
Resource Type	Article

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