Abstract : 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.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, 2010, Taipei, Taiwan, Taiwan. pp.3810-3815, 2010
https://hal.inria.fr/inria-00544793
Contributeur : Eric Marchand
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Soumis le : jeudi 9 décembre 2010 - 00:18:21
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : jeudi 10 mars 2011 - 13:07:10
