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Conference Papers Year : 2010

Improving monocular plane-based SLAM with inertial measures

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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Dates and versions

inria-00544793 , version 1 (09-12-2010)

Identifiers

  • HAL Id : inria-00544793 , version 1

Cite

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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