Simultaneous Localization, Mapping and Moving Object Tracking

@article{Wang2007SimultaneousLM,
  title={Simultaneous Localization, Mapping and Moving Object Tracking},
  author={C. Wang and Charles E. Thorpe and Sebastian Thrun and Martial Hebert and Hugh F. Durrant-Whyte},
  journal={The International Journal of Robotics Research},
  year={2007},
  volume={26},
  pages={889 - 916}
}
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, a mathematical framework is established to integrate SLAM and moving object tracking. Two solutions are described: SLAM with generalized objects, and SLAM with detection and tracking of moving objects (DATMO). SLAM with generalized objects calculates a joint posterior over all… 
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