Online Reconstruction of Vehicles in a Car Park

  • Christopher Tay Meng Keat
  • Cédric Pradalier
  • Christian Laugier
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 25)


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.


Vehicle Detection Bayesian Programming 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Christopher Tay Meng Keat
    • 1
  • Cédric Pradalier
    • 2
  • Christian Laugier
    • 3
  1. 1.INRIA Rhône Alpes GRAVIR LaboratoryFrance
  2. 2.CSIRO ICT CenterCanberraAustralia
  3. 3.INRIA Rhône Alpes GRAVIR LaboratoryFrance

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