Summary
In this paper, a method of obtaining vehicle hypothesis based on laser scan data only is proposed. This is implemented on the robotic vehicle, CyCab, for navigation and mapping of the static car park environment. Laser scanner data is used to obtain hypothesis on position and orientation of vehicles with Bayesian Programming. Using the hypothesized vehicle poses as landmarks, CyCab performs Simultaneous Localization And Mapping (SLAM). A final map consisting of the vehicle positions in the car park is obtained.
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© 2006 Springer-Verlag Berlin Heidelberg
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Tay Meng Keat, C., Pradalier, C., Laugier, C. (2006). Online Reconstruction of Vehicles in a Car Park. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_18
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DOI: https://doi.org/10.1007/978-3-540-33453-8_18
Publisher Name: Springer, Berlin, Heidelberg
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Online ISBN: 978-3-540-33453-8
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