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SLAM in a dynamic large outdoor environment using a laser scanner
- Source :
- ICRA
- Publication Year :
- 2008
- Publisher :
- IEEE, 2008.
-
Abstract
- In this research, we propose a method of SLAM in a dynamic large outdoor environment using a laser scanner. Focus are cast on solving two major problems: 1) achieving global accuracy especially in non-cyclical environment, 2) tackling a mixture of data from both dynamic and static objects. Algorithms are developed, where GPS data and control inputs are used to diagnose pose error and guide to achieve a global accuracy; Classification of laser points and objects are conducted not in an independent module but across the processing in a framework of SLAM with moving object detection and tracking. Experiments are conducted using the data from two test-bed vehicles, and performance of the algorithms are demonstrated.
Details
- Database :
- OpenAIRE
- Journal :
- 2008 IEEE International Conference on Robotics and Automation
- Accession number :
- edsair.doi...........b3e5819e7e8213311c042f1f12d9094f