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F. Servant, P. Houlier, E. Marchand. Improving monocular plane-based SLAM with inertial measures. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Pages 3810-3815, Taipei, Taiwan, October 2010.

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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


Eric Marchand

BibTex Reference

   Author = {Servant, F. and Houlier, P. and Marchand, E.},
   Title = {Improving monocular plane-based SLAM with inertial measures},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10},
   Pages = {3810--3815},
   Address = {Taipei, Taiwan},
   Month = {October},
   Year = {2010}

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