Online Localization and Mapping with Moving Object Tracking in Dynamic Outdoor Environments

Trung-Dung Vu 1 Olivier Aycard 1 Nils Appenrodt 2
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : In this paper, we present a real-time algorithm for online 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 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 is updated incrementally and moving objects are detected without a priori knowledge of the targets. Detected moving objects are finally tracked using Global Nearest Neighborhood (GNN) method. 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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Trung-Dung Vu, Olivier Aycard, Nils Appenrodt. Online Localization and Mapping with Moving Object Tracking in Dynamic Outdoor Environments. 2007 IEEE Intelligent Vehicles Symposium, Jun 2007, Istanbul, Turkey. ⟨inria-00194152⟩

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