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Online Reconstruction Of Vehicles In A Car Park

Christopher Tay 1 Cédric Pradalier 1 Christian Laugier 1 
1 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : In this paper, a method of obtaining vehicle hypothesis based on laser scan data only is proposed. This is implemented on the robotic vehicle, CyCab, for navigation and mapping of the static car park environment. Laser scanner data is used to obtain hypothesis on position and orientation of vehicles with Bayesian Programming. Using the hypothesized vehicle poses as landmarks, CyCab performs Simultaneous Localization And Mapping (SLAM). A final map consisting of the vehicle positions in the car park is obtained.
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Submitted on : Wednesday, October 24, 2007 - 6:34:51 PM
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Christopher Tay, Cédric Pradalier, Christian Laugier. Online Reconstruction Of Vehicles In A Car Park. Proc. of the Int. Conf. on Field and Service Robotics, Jul 2005, Port Douglas Australia, Australia. pp.207-218, ⟨10.1007/978-3-540-33453-8_18⟩. ⟨inria-00182042⟩



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