Stereo-based simultaneous localization, mapping and moving object tracking

Author

Lin, Kuen-Han ; Wang, Chieh-Chih

Author_Institution

Dept. of Comput. Sci. & Inf. Eng., Nat. Taiwan Univ., Taipei, Taiwan

fYear

2010

fDate

18-22 Oct. 2010

Firstpage

3975

Lastpage

3980

Abstract

Vision based simultaneous localization and mapping (SLAM) has recently received much research interest. However, vision based SLAM could be corrupted with the inclusion of moving entities, which makes it hard to operate in dynamic environments. Simultaneous localization, mapping and moving object tracking (SLAMMOT) serves as a solution to deal with moving objects while performing SLAM. The existing work has shown the feasibility of monocular SLAMMOT in dynamic environments. However, monocular SLAMMOT inherits the observability issue of bearings-only tracking in which moving entities would be unobservable according to motions of the camera and moving objects. In this paper, stereo-based SLAMMOT is proposed to solve the observability issue as well as increase the accuracy of localization, mapping and tracking. Simulation and experimental results demonstrate that the proposed stereo SLAMMOT is superior than monocular SLAMMOT in dynamic environments.

Keywords

SLAM (robots); cameras; direction-of-arrival estimation; image motion analysis; object tracking; observability; robot vision; stereo image processing; SLAMMOT; moving object tracking; stereo vision based localization; stereo vision based mapping; stereo vision based simultaneous;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Conference_Location

Taipei

ISSN

2153-0858

Print_ISBN

978-1-4244-6674-0

Type

conf

DOI

10.1109/IROS.2010.5649653

Filename

5649653