Joint Self-Localization and Tracking of Generic Objects in 3D Range Data

		Joint Self-Localization and Tracking of Generic Objects in 3D Range Data

On this website you can find additional material on the paper submitted to the IEEE International Conference on Robotics and Automation 2013.

Paper and Bibtex

Paper (pdf)


@inproceedings{Moosmann2013ICRA,

		
        Address = {Karlsruhe, Germany},

        Author = {Frank Moosmann and Christoph Stiller},

        Booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation},

        Language = {english},

        Month = {May},

        Pages = {1138--1144},

        Title = {Joint Self-Localization and Tracking of Generic Objects in 3D Range Data},

        Url = {http://www.mrt.kit.edu/z/publ/download/Moosmann_ICRA13.pdf},

        Year = {2013},

        Bdsk-Url-1 = {http://www.kit.edu/z/publ/download/Moosmann_ICRA13.pdf}

		
}

PhD thesis which contains more details

Dataset and Results

The dataset used for evaluation can be found here.

Code

The complete development source code can be found here.

Videos

The following video illustrates the results of the proposed method:

Tracked moving objects visualized by their appearance points, each in a unique color
Mapped environment colored by altitude (end of video)

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