F. Servant, P. Houlier, E. Marchand. Improving monocular plane-based SLAM with inertial measures. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Pages 3810-3815, Taipei, Taiwan, October 2010.
Download paper: Adobe portable document (pdf)
Copyright notice:
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2015, Projet Lagadic
This article presents a solution to the problem of fusing measurements acquired from a monocular camera with inertial data to achieve simultaneous localization and mapping (SLAM) tasks. This paper describes the models used to correctly integrate inertial and vision data in an EKF-SLAM based application, and ways to perform the fusion on low cost hardware. Both synthetic and real sequences show that our method work and greatly enhance classical SLAM estimation
@InProceedings{Servant10a,
Author = {Servant, F. and Houlier, P. and Marchand, E.},
Title = {Improving monocular plane-based SLAM with inertial measures},
BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10},
Pages = {3810--3815},
Address = {Taipei, Taiwan},
Month = {October},
Year = {2010}
}
Get EndNote Reference (.ref)
| Lagadic
| Map
| Team
| Publications
| Demonstrations
|
Irisa - Inria - Copyright 2009 © Lagadic Project |