Modélisation explicite des objets et de l'environnement en combinant les approches topologique et métrique pour la localisation

Marion Decrouez 1, 2 Romain Dupont 2 François Gaspard 2 Frédéric Devernay 1 James L. Crowley 1, *
* Corresponding author
1 PRIMA - Perception, recognition and integration for observation of activity
Inria Grenoble - Rhône-Alpes, UJF - Université Joseph Fourier - Grenoble 1, INPG - Institut National Polytechnique de Grenoble , CNRS - Centre National de la Recherche Scientifique : UMR5217
Abstract : This paper presents a new formulation of place recognition in unknown environments. Many objects in indoor environments are likely to be moved. We want to make the most of several observations of a camera in the same scene to represent the different places and objects. We propose to combine methods of metrical and topological localization to detect and model objects. We present also a probabilistic approach for place recognition that considers the objects.
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Marion Decrouez, Romain Dupont, François Gaspard, Frédéric Devernay, James L. Crowley. Modélisation explicite des objets et de l'environnement en combinant les approches topologique et métrique pour la localisation. ORASIS 2011 - 13e Congrès des jeunes chercheurs en vision par ordinateur, INRIA Grenoble Rhône-Alpes, Jun 2011, Praz-sur-Arly, France. 8p. ⟨hal-00651823⟩

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