SIMULTANEOUS LOCALIZATION, MAPPING AND MOVING OBJECT TRACKING

دانشگاه آزاد اسلامی اصفهان(خوراسگان)

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" SIMULTANEOUS LOCALIZATION, MAPPING AND MOVING OBJECT TRACKING "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	149928
Doc. No	:	ET21720
Main Entry	:	Chieh-Chih Wang
Title Proper	:	SIMULTANEOUS LOCALIZATION, MAPPING AND MOVING OBJECT TRACKING
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	L OCALIZATION, mapping and moving object tracking serve as the basis for scene un-derstanding, which is a key prerequisite for making a robot truly autonomous.Simultaneous localization, mapping and moving object tracking (SLAMMOT) in-volves not only simultaneous localization and mapping (SLAM) in dynamic environmentsbut also detecting and tracking these dynamic objects. It is believed by many that a solutionto the SLAM problem would open up a vast range of potential applications for autonomousrobots. Accordingly, a solution to the SLAMMOT problem would expand robotic applica-tions in proximity to human beings where robots work not only for people but also withpeople.This thesis establishes a new discipline at the intersection of SLAM and moving objecttracking. Its contributions are two-fold: theoretical and practical.From a theoretical perspective, we establish a mathematical framework to integrateSLAM and moving object tracking, which provides a solid basis for understanding andsolving the whole problem. We describe two solutions: SLAM with generic objects (GO),and SLAM with detection and tracking of moving objects (DATMO). SLAM with GO cal-culates a joint posterior over all generic objects and the robot. Such an approach is similarto existing SLAM algorithms, but with additional structure to allow for motion modellingof the generic objects. Unfortunately, it is computationally demanding and infeasible. Con-sequently, we provide the second solution, SLAM with DATMO, in which the estimationproblem is decomposed into two..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL44902.pdf
Title and statement of responsibility and	:	SIMULTANEOUS LOCALIZATION, MAPPING AND MOVING OBJECT TRACKING [Thesis]