Simultaneous Localization, Mapping and Detection of Objects for Mobile Robot Based on Information Fusion in Dynamic Environment

Abstract:

This paper presents a novel approach for simultaneous localization, mapping (SLAM) and detection of moving object based on information fusion. We use different information sources, such as laser range scanner, and monocular camera, to improve the ability of distinction between object and background environment. The approach improves the accuracy of SLAM in complex environment, reduces the interference caused by objects, and enhances the practical utility of traditional methods of SLAM. Moreover, the approach expands fields of both research and application of SLAM in combination with target tracking method. Results in real robot experiments show the effectiveness of our method.

• Periodical: Advanced Materials Research (Volume 1014)
• Pages: 319-322
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1014.319
• Online since: July 2014
• Authors: Ming Wu*, Lin Lin Li, Cheng Jian Li, Hong Qiao Wang, Zhen Hua Wei
• Keywords: Information Fusion, Object Tracking, SLAM

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