Grid-based Localization and Online Mapping with Moving Object Detection and Tracking

Julien Burlet 1 Trung Dung Vu 1 Olivier Aycard 1
1 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes
Abstract : In this paper, we present a real-time algorithm for local simultaneous localization and mapping (SLAM) with detection and tracking of moving objects (DATMO) in dynamic outdoor environments from a moving vehicle equipped with laser sensor, radar and odometry. To correct vehicle location from odometry we introduce a new fast implementation of incremental scan matching method that can work reliably in dynamic outdoor environments. After a good vehicle location is estimated, the surrounding map of the vehicle is updated incrementally and moving objects are detected without a priori knowledge of the targets. Detected moving objects are finally tracked by a Multiple Hypothesis Tracker (MHT) coupled with an adaptive Interacting Multiple Models filter. The experimental results on datasets collected from different scenarios such as: urban streets, country roads and highways demonstrate the efficiency of the proposed algorithm.
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Julien Burlet, Trung Dung Vu, Olivier Aycard. Grid-based Localization and Online Mapping with Moving Object Detection and Tracking. [Research Report] RR-6276, INRIA. 2007. ⟨inria-00167687v3⟩

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