The multimedia extensions to this article are at: http://www.
ijrr.org. Extension 1 is a video that illustrates the processing
of the SLAM with DATMO approach (Figure 22). Extension 2 is a video that shows the processing of loop closing (Figure 13). Extension 3 and 4 are the videos illustrate the processing of multiple vehicle tracking (Figure 24) and multiple pedes-trian tracking (Figure 28), respectively. Extension 5 is a video shows the 3D city modeling results (Figure 29, Figure 30 and Figure 31).
Extension Type Description
1 Video SLAM with DATMO
2 Video Loop closing
3 Video Multiple vehicle tracking 4 Video Multiple pedestrian tracking
5 Video City mapping
Acknowledgment
Thanks to the members of the CMU Navlab group for their excellent work on building and maintaining the Navlab11 ve-hicles, and for their helps on collecting data. We also acknowl-edge the helpful suggestions by anonymous reviewers. This work was funded in part by the US Department of Trans-portation1 the Federal Transit Administration1 by Bosch Cor-poration1 by SAIC Inc.1 and by the ARC Centre of Excel-lence programme, funded by the Australian Research Coun-cil (ARC) and the New South Wales State Government. The on-going project is partially supported by grants from Tai-wan NSC (#94-2218-E-002-077, #94-2218-E-002-075, #95-2218-E-002-039, #95-2221-E-002-433)1 Excellent Research Projects of National Taiwan University (#95R0062-AE00-05)1 Taiwan DOIT TDPA Program (#95-EC-17-A-04-S1-054)1 Australia’s CSIRO1 and Intel.
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