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Improving monocular plane-based SLAM with inertial measures

Fabien Servant 1, 2 Pascal Houlier 1 E. Marchand 3 
3 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
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.
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Submitted on : Thursday, December 9, 2010 - 12:18:21 AM
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Fabien Servant, Pascal Houlier, E. Marchand. Improving monocular plane-based SLAM with inertial measures. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, 2010, Taipei, Taiwan, Taiwan. pp.3810-3815. ⟨inria-00544793⟩

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