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Simultaneous Environment Mapping And Mobile Target Tracking
Abedallatif Baba, Raja Chatila
145 - 152
Intelligent Autonomous Systems 9
Abstract

This paper presents an approach for building a dynamic environment model based on an occupancy grid using a SLAM technique, while detecting and tracking mobile objects using an Auxiliary Multiple-Model particle filter. The mobile objects, such as people, are distinguished from the fixed parts and not included in the model, and their motion is tracked.

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