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 - Graphisme, Vision et Robotique, 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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Communication dans un congrès
Springer. Proc. of the Int. Conf. on Field and Service Robotics, Jul 2005, Port Douglas Australia, Australia. 25, pp.207-218, 2006, Springer Tracts in Advanced Robotics. 〈10.1007/978-3-540-33453-8_18〉
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Christopher Tay, Cédric Pradalier, Christian Laugier. Online Reconstruction Of Vehicles In A Car Park. Springer. Proc. of the Int. Conf. on Field and Service Robotics, Jul 2005, Port Douglas Australia, Australia. 25, pp.207-218, 2006, Springer Tracts in Advanced Robotics. 〈10.1007/978-3-540-33453-8_18〉. 〈inria-00182042〉

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