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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)
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)
− − − − 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)
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)
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)
In this paper, we present a real-time pedestrian detection system that uses a pair of moving cameras to detect both stationary and moving pedestrians in crowded environments. This is achieved through stereo-based s e gmentation and neural network-based recognition. Stereo-based s e gmentation allows us to extract objects from a changing background; neural(More)