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Simultaneous localization, mapping and moving object tracking (SLAMMOT) involves both simultaneous localization and mapping (SLAM) in dynamic environments and detecting and tracking these dynamic objects. In this paper, we establish a mathematical framework to integrate SLAM and moving object tracking. We describe two solutions: SLAM with generalized(More)
− − − − 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(More)
Collaborative control is a teleoperation system model based on human–robot dialogue. With this model, the robot asks questions to the human in order to obtain assistance with cognition and perception. This enables the human to function as a resource for the robot and help to compensate for limitations of autonomy. To understand how collaborative control(More)
Teleoperation can be significantly improved if humans and robots work as partners. By adapting autonomy and human-robot interaction to the situation and the user, we can create systems which are easier to use and better performing. In this paper, we discuss the importance of collaboration and dialogue in human-robot systems. We then present a system based(More)
At Camegie Mellon University, we have two new vision systems for outdoor road following. The first system, called SCARF (Supervised Classification Applied to Road Following), is designed to be fast and robust when the vehicle is running in both sunshine and shadows under constant illumination. The second system, UNSCARF (UNSupervised Classification Applied(More)
We present a novel approach to tracking planar surface p atches over time. In addition to tracking a patch with full six degrees of freedom, the algorithm also produces a super-resolved estimate of the texture p r esent on the patch. This texture estimate is kept as an explicit model texture image which is reened over time. We then use it to infer the 3D(More)
In this paper, we present a car tracking system which provides quantitative and qualitative motion estimates of the tracked car simultaneously from a moving observer. First, we construct three motion models (constant velocity, constant acceleration, and turning) to describe the qualitative motion of a moving car. Then the models are incorporated into the(More)