Improving monocular plane-based SLAM with inertial measures
| Title: | Improving monocular plane-based SLAM with inertial measures |
|---|---|
| Authors: | Fabien Servant; Pascal Houlier; Eric March |
| Contributors: | The Pennsylvania State University CiteSeerX Archives |
| Source: | http://www.irisa.fr/lagadic/pdf/2010_iros_servant.pdf. |
| Collection: | CiteSeerX |
| Description: | — 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. I. |
| Document Type: | text |
| File Description: | application/pdf |
| Language: | English |
| Relation: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.170.8914; http://www.irisa.fr/lagadic/pdf/2010_iros_servant.pdf |
| Availability: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.170.8914; http://www.irisa.fr/lagadic/pdf/2010_iros_servant.pdf |
| Rights: | Metadata may be used without restrictions as long as the oai identifier remains attached to it. |
| Accession Number: | edsbas.725A30CE |
| Database: | BASE |