Grid-based Localization and Online Mapping with Moving Object Detection and Tracking

  title={Grid-based Localization and Online Mapping with Moving Object Detection and Tracking},
  author={Julien Burlet and Trung Vu and Olivier Aycard},
In this paper, we present a real-time algorithm for local sim ultaneous localization and mapping (SLAM) with detection and tracking of moving object s (DATMO) in dynamic outdoor environments from a moving vehicle equipped with laser sens or, radar and odometry. To correct vehicle location from odometry we introduce a new fast imple mentation of incremental scan matching method that can work reliably in dynamic outdoor environ ments. After a good vehicle location is estimated, the surrounding… CONTINUE READING


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