In this paper, the authors 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 a laser scanner and two radars. 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 by a Multiple Hypothesis Tracker (MHT) coupled with an adaptive IMM (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 on a Daimler Mercedes demonstrator in the framework of the European Project PReVENT-ProFusion2.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Mapping of environment, detection and tracking of moving objects using occupancy grids


    Additional title:

    Abbildung der Umgebung, Erkennung und Verfolgung von bewegten Objekten mit Hilfe von belegten Netzwerken


    Contributors:


    Publication date :

    2008


    Size :

    7 Seiten, 7 Bilder, 19 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Footprint-based classification of road moving objects using occupancy grids

    Alonso, Victor / Correal, Raul / Villagra, Jorge | IEEE | 2017


    Detection and Tracking of Moving Objects Using 2.5D Motion Grids

    Asvadi, Alireza / Peixoto, Paulo / Nunes, Urbano | IEEE | 2015


    Detektion und Tracking dynamischer Objekte in Occupancy Grids

    Konrad, Marcus / Fuchs, Manuel / Löhlein, Otto et al. | Tema Archive | 2011


    Learning Occupancy Grids of Non-Stationary Objects with Mobile Robots

    Limketkai, Benson / Biswas, Rahul / Thrun, Sebastian | Springer Verlag | 2003


    Moving Objects Detection by Conflict Analysis in Evidential Grids

    Moras, J. / Cherfaoui, V. / Bonnifait, P. et al. | British Library Conference Proceedings | 2011