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Cartographie de l'environnement et suivi simultané de cibles dynamiques par un robot mobile

Abstract : A fundamental capability of a mobile robot perceiving its environment is to be able to build its own map. The existence of mobile entities in the robot's perception zone, while it is building its map, can generate serious errors in its localization and inaccuracies in the map. The traces of the mobile objects must be detected and eliminated from the constructed model. We propose to adopt an occupancy grid as the representation of the environment. This representation provides a model of the environment which can be updated at high frequency, an important requirement to allow the detection and the tracking of mobile objects near the robot. The detection and the tracking of the dynamic targets are then carried out. We present a procedure that attributes acquired measurements to the corresponding targets (data association).Moreover, in order to improve the quality of the sensory information supplied to the robot and to increase the reliability of the tracking process, we fuse the data of a catadioptric camera with the laser's data. A binary image is calculated using a modified approach of optical flux, where a new term which compensates for the changes of illumination is calculated and taken into account. Two strategies that determine the directions of the detected targets using deployed images (on a cylindrical form) and rough panoramic images are respectively presented and compared. Finally, we propose a probabilistic method to couple the measurements received from the two sensors and to associate them to the same event.
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Contributor : Arlette Evrard <>
Submitted on : Thursday, March 6, 2008 - 8:33:55 AM
Last modification on : Friday, January 10, 2020 - 9:08:08 PM
Long-term archiving on: : Thursday, May 20, 2010 - 11:58:55 PM


  • HAL Id : tel-00260984, version 1


Abdellatif Baba. Cartographie de l'environnement et suivi simultané de cibles dynamiques par un robot mobile. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2007. Français. ⟨tel-00260984⟩



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