Servant10a
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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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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BibTex Reference
@InProceedings{Servant10a,
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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