{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/119560"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/119560","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Simultaneous Tracking, Object Registration, and Mapping (STORM)","abstract":"An autonomous system needs to be aware of its surroundings and know where it is in its environment in order to operate robustly in unknown environments. This problem is known as Simultaneous Localization and Mapping (SLAM). SLAM techniques have been successfully implemented on systems operating in the real world. However, most SLAM approaches assume that the environment does not change during operation -- the static world assumption. When this assumption is violated (e.g. an object moves), the SLAM estimate degrades. Consequently, the static world assumption prevents robots from interacting with their environments (e.g. manipulating objects) and restricts them to navigating in static environments. Additionally, most SLAM systems generate maps composed of low-level features that lack information about objects and their locations in the scene. This representation limits the map's utility, preventing it from being used for tasks beyond navigation such as object manipulation and task planning. We present Simultaneous Tracking, Object Registration, and Mapping (STORM), a SLAM system that represents an environment as a collection of dynamic objects. STORM enables a robot to build and maintain maps of dynamic environments, use the map estimates to manipulate objects, and localize itself in the map when revisiting the environment. We demonstrate STORM's capabilities with simulation and real-world experiments and compare its performance against that of a typical SLAM approach.","abstract_html":"An autonomous system needs to be aware of its surroundings and know where it is in its environment in order to operate robustly in unknown environments. This problem is known as Simultaneous Localization and Mapping (SLAM). SLAM techniques have been successfully implemented on systems operating in the real world. However, most SLAM approaches assume that the environment does not change during operation -- the static world assumption. When this assumption is violated (e.g. an object moves), the SLAM estimate degrades. Consequently, the static world assumption prevents robots from interacting with their environments (e.g. manipulating objects) and restricts them to navigating in static environments. Additionally, most SLAM systems generate maps composed of low-level features that lack information about objects and their locations in the scene. This representation limits the map's utility, preventing it from being used for tasks beyond navigation such as object manipulation and task planning. We present Simultaneous Tracking, Object Registration, and Mapping (STORM), a SLAM system that represents an environment as a collection of dynamic objects. STORM enables a robot to build and maintain maps of dynamic environments, use the map estimates to manipulate objects, and localize itself in the map when revisiting the environment. We demonstrate STORM's capabilities with simulation and real-world experiments and compare its performance against that of a typical SLAM approach.","abstract_has_math":false,"creators":["Kee, Vincent P"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.","school":null,"contributors":[],"advisors":["Gian Luca Mariottini and Sertac Karaman."],"committee_chairs":[],"committee_members":[],"year":2018,"date_issued":"2018","date_published":"2018","updated_at":"2026-07-22T22:22:23Z","subjects":["Electrical Engineering and Computer Science."],"languages":["eng"],"rights":["MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/119560","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Gian Luca Mariottini and Sertac Karaman."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. 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They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1721.1/119560"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2018.","This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.","Cataloged from student-submitted PDF version of thesis.","Includes bibliographical references (pages 87-91)."]},{"key":"dc:description.abstract","label":"Abstract","values":["An autonomous system needs to be aware of its surroundings and know where it is in its environment in order to operate robustly in unknown environments. This problem is known as Simultaneous Localization and Mapping (SLAM). SLAM techniques have been successfully implemented on systems operating in the real world. However, most SLAM approaches assume that the environment does not change during operation -- the static world assumption. When this assumption is violated (e.g. an object moves), the SLAM estimate degrades. Consequently, the static world assumption prevents robots from interacting with their environments (e.g. manipulating objects) and restricts them to navigating in static environments. Additionally, most SLAM systems generate maps composed of low-level features that lack information about objects and their locations in the scene. This representation limits the map's utility, preventing it from being used for tasks beyond navigation such as object manipulation and task planning. We present Simultaneous Tracking, Object Registration, and Mapping (STORM), a SLAM system that represents an environment as a collection of dynamic objects. STORM enables a robot to build and maintain maps of dynamic environments, use the map estimates to manipulate objects, and localize itself in the map when revisiting the environment. We demonstrate STORM's capabilities with simulation and real-world experiments and compare its performance against that of a typical SLAM approach."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["M. Eng."]},{"key":"dc:title","label":"Title","values":["Simultaneous Tracking, Object Registration, and Mapping (STORM)"]}]}],"canonical_facts":{"dc:contributor.advisor":["Gian Luca Mariottini and Sertac Karaman."],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science."],"dc:contributor.other":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science."],"dc:creator":["Kee, Vincent P"],"dc:date.accessioned":["2018-12-11T20:40:09Z"],"dc:date.available":["2018-12-11T20:40:09Z"],"dc:date.issued":["2018"],"dc:description":["Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2018.","This electronic version was submitted by the student author. 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Additionally, most SLAM systems generate maps composed of low-level features that lack information about objects and their locations in the scene. This representation limits the map's utility, preventing it from being used for tasks beyond navigation such as object manipulation and task planning. We present Simultaneous Tracking, Object Registration, and Mapping (STORM), a SLAM system that represents an environment as a collection of dynamic objects. STORM enables a robot to build and maintain maps of dynamic environments, use the map estimates to manipulate objects, and localize itself in the map when revisiting the environment. We demonstrate STORM's capabilities with simulation and real-world experiments and compare its performance against that of a typical SLAM approach."],"dc:description.degree":["M. 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