Online Localization and Mapping with Moving Object Tracking in Dynamic Outdoor Environments

  title={Online Localization and Mapping with Moving Object Tracking in Dynamic Outdoor Environments},
  author={Trung-Dung Vu and Olivier Aycard and Nils Appenrodt},
  journal={2007 IEEE Intelligent Vehicles Symposium},
In this paper, we present a real-time algorithm for online simultaneous localization and mapping (SLAM) with detection and tracking of moving objects (DATMO) in dynamic outdoor environments from a moving vehicle equipped with laser sensor and odometry. To correct vehicle location from odometry we introduce a new fast implementation of incremental scan matching method that can work reliably in dynamic outdoor environments. After a good vehicle location is estimated, the surrounding map is… CONTINUE READING
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