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Communication Dans Un Congrès Année : 2010

Improved visual localization and navigation using proprioceptive sensors

Résumé

We address the problem of vehicle (mobile robot) navigation by combining visual-based reconstruction and localization with metrical information given by the proprioceptive sensors such as the odometry sensor. The proposed approach extends the navigation system based on a monocular vision [1] which is able to build a map and localize the vehicle in the real time way using only one camera. An extended kalman filter is used to integrate odometric information to estimate the vehicle position. This position is updated by the localization obtained from the vision system. Experimental result carried out with an urban electric vehicle will show the improvement of the navigation system and its robustness to the temporary loss of images.
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Dates et versions

hal-00604577 , version 1 (29-06-2011)

Identifiants

Citer

Nadir Karam, Hicham Hadj-Abdelkader, Clement Deymier, Datta Ramadasan. Improved visual localization and navigation using proprioceptive sensors. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), Oct 2010, Taipei, Taiwan. pp.4155--4160, ⟨10.1109/IROS.2010.5649978⟩. ⟨hal-00604577⟩
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