Online Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects: Theory and Results from a Ground Vehicle in Crowded Urban Areas

Chieh-Chih Wang, Charles Thorpe, and Sebastian Thrun

The simultaneous localization and mapping (SLAM) with detection and tracking of moving objects (DATMO) problem is not only to solve the SLAM problem in dynamic environments, but also to detect and track these dynamic objects. In this paper, we derive the Bayesian formula of the SLAM with DATMO problem, which provides a solid basis for understanding and solving this problem. In addition, we provide a practical algorithm for performing DATMO from a moving platform equipped with range sensors. The probabilistic approach to solve the while problem has been implemented with the Navlab 11 vehicle. More than 100 miles of experiments in crowded urban areas indicate that SLAM with DATMO is indeed feasible.

The full paper is available in gzipped Postscript and PDF

@INPROCEEDINGS{Wang03a,
  AUTHOR	= {Wang, C.-C. and Thorpe, C. and S. Thrun},
  TITLE		= {Online Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects: Theory and Results from a Ground Vehicle in Crowded Urban Areas},
  YEAR		= {2003},
  BOOKTITLE      = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  ADDDRESS      = {Taipei, Taiwan}
}