ICRA'09 Paper Abstract


Paper FrB3.5

Gallagher, Garratt (Carnegie Mellon University), Ferguson, Dave (Intel Research Pittsburgh), Bagnell, James (Carnegie Mellon University), Srinivasa, Siddhartha (Intel Research Pittsburgh)

GATMO: a Generalized Approach to Tracking Movable Objects

Scheduled for presentation during the Regular Sessions "Mapping - II" (FrB3), Friday, May 15, 2009, 11:50−12:10, Room: 401

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Mapping, Recognition, Learning and Adaptive Systems


We present GATMO (Generalized Approach to Tracking Movable Objects), a system for localization and mapping that incorporates the dynamic nature of the environment while maintaining semantic labels. Objects in the environment are broken down into multiple mobility levels, from static (walls) to highly mobile (people), by maintaining a history of object movement. Object classification is accomplished through a multi-layer, multi-hypothesis approach that does not rely on any static features such as shape or size. Maps are stored in an efficient manner that incorporates a history of previous orientations of each object. GATMO is initialized with a static map; it subsequently changes the map over time as objects in the map change position.



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