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.
https://hal.inria.fr/inria-00544793 Contributor : Eric MarchandConnect in order to contact the contributor Submitted on : Thursday, December 9, 2010 - 12:18:21 AM Last modification on : Thursday, January 20, 2022 - 4:19:55 PM Long-term archiving on: : Thursday, March 10, 2011 - 1:07:10 PM