%0 Conference Proceedings %F Servant10a %A Servant, F. %A Houlier, P. %A Marchand, E. %T Improving monocular plane-based SLAM with inertial measures %B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10 %P 3810-3815 %C Taipei, Taiwan %X 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 %U http://rainbow-doc.irisa.fr/pdf/2010_iros_servant.pdf %U http://doi.org/10.1109/IROS.2010.5648977 %8 October %D 2010