3documents trouvés
RT-SLAM: A generic and real-time visual SLAM implementation
C.ROUSSILLON, A.GONZALEZ, J.SOLA, J.M.CODOL, N.MANSARD, S.LACROIX, M.DEVY
RIS, RAP, GEPETTO
Ouvrage (contribution) : Computer Vision Systems, Lecture Notes in Computer Science, 6962, Springer, 222p., N°ISBN 978-3-642-23967-0, Septembre 2011, pp.31-40 , N° 11722
Lien : http://hal.archives-ouvertes.fr/hal-00662647
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Abstract
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.
RT-SLAM: A generic and real-time visual SLAM implementation
C.ROUSSILLON, A.GONZALEZ, J.SOLA, J.M.CODOL, N.MANSARD, S.LACROIX, M.DEVY
RIS, RAP, GEPETTO
Manifestation avec acte : International Conference on Computer Vision Systems (ICVS'2011), Sophia Antipolis (France), 20-22 Septembre 2011, pp.31-40 , N° 11722
Lien : http://hal.archives-ouvertes.fr/hal-00662647
Diffusable
Plus d'informations
Abstract
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.
Over the hill and far away: aerial/ground cooperation for long range navigation
R.BOUMGHAR, C.ROUSSILLON, A.DEGROOTE, P.COX, V.DELSART, B.VANDEPORTAELE, M.HERRB, S.LACROIX
RIS, 2I
Manifestation sans acte : International Workshop on Robotics for risky interventions and Environmental Surveillance-Maintenance, Louvain (Belgique), 21-24 Juin 2011, 7p. , N° 11390
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