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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)
Despite advances in autonomy, there will always be a need for human involvement in vehicle tele-operation. In particular, tasks such as exploration, reconnaissance and surveillance will continue to require human supervision, if not guidance and direct control. Thus, it is critical that the operator interface be as efficient and as capable as possible. In(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)
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)
A method is presented to recover 3D scene structure and camera motion from multiple images without the need for correspondence information. The problem is framed as finding the maximum likelihood structure and motion given only the 2D measurements, integrating over all possible assignments of 3D features to 2D measurements. This goal is achieved by means of(More)
Both simultaneous localization and mapping (SLAM) and detection and tracking of moving objects (DTMO) play key roles in robotics and automation. For certain constrained environments, SLAM and DTMO are becoming solved problems. But for robots working outdoors, and at high speeds, SLAM and DTMO are still incomplete. In earlier works, SLAM and DTMO are treated(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)