Masoud Sotoodeh Bahraini

Dr. Masoud Sotoodeh Bahraini

Mechanical Engineering, University of Birmingham, Birmingham, UK
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Research Focus & Metrics

Academic Career Length

14Years (2013-Present)

(Calculated once Scilit publication data is synced: current year − year of first publication + 1)

Representative Publications

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1 February 2018 in Mechatronics
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Journal Article
Closed access
Masoud Sotoodeh BahrainiMasoud Sotoodeh Bahraini
Masoud Sotoodeh Bahraini
MBMohammad Bozorg
Mohammad Bozorg
ARAhmad B. Rad
Ahmad B. Rad

26 August 2019 in Sensors
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Journal Article
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Masoud Sotoodeh BahrainiMasoud Sotoodeh Bahraini
Masoud Sotoodeh Bahraini
ARAhmad Rad
Ahmad Rad
MBMohammad Bozorg
Mohammad Bozorg
The important problem of Simultaneous Localization and Mapping (SLAM) in dynamic environments is less studied than the counterpart problem in static settings. In this paper, we present a solution for the feature-based SLAM problem in dynamic environments. We propose an algorithm that integrates SLAM with multi-target tracking (SLAMMTT) using a robust feature-tracking algorithm for dynamic environments. A novel implementation of RANdomSAmple Consensus (RANSAC) method referred to as multilevel-RANSAC (ML-RANSAC) within the Extended Kalman Filter (EKF) framework is applied for multi-target tracking (MTT). We also apply machine learning to detect features from the input data and to distinguish moving from stationary objects. The data stream from LIDAR and vision sensors are fused in real-time to detect objects and depth information. A practical experiment is designed to verify the performance of the algorithm in a dynamic environment. The unique feature of this algorithm is its ability to maintain tracking of features even when the observations are intermittent whereby many reported algorithms fail in such situations. Experimental validation indicates that the algorithm is able to perform consistent estimates in a fast and robust manner suggesting its feasibility for real-time applications.

6 September 2024 in Robotics and Computer-Integrated Manufacturing
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Journal Article
Open access
SASeemal Asif
Seemal Asif
MBMikel Bueno
Mikel Bueno
PFPedro Ferreira
Pedro Ferreira
PAPaul Anandan
Paul Anandan
ZZZe Zhang
Ze Zhang
ATAshutosh Tiwari
Ashutosh Tiwari

11 April 2013 in Journal of Mechanical Science and Technology
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Journal Article
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Masoud Sotoodeh BahrainiMasoud Sotoodeh Bahraini
Masoud Sotoodeh Bahraini
MEMohammad Eghtesad
Mohammad Eghtesad
MFMehrdad Farid
Mehrdad Farid
EGEsmaeal Ghavanloo
Esmaeal Ghavanloo

4 May 2019 in Iranian Journal of Science and Technology, Transactions of Mechanical Engineering
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Journal Article
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Masoud Sotoodeh BahrainiMasoud Sotoodeh Bahraini
Masoud Sotoodeh Bahraini