Visual-inertial hybridization with SLAM. Application to mobile robotics

Simon Lacroix (1)

1 LAAS - Laboratoire d'analyse et d'architecture des systèmes

Localization is an essential function in mobile robotics. The family of techniques called "Simultaneous Localization And Mapping" have been introduced in order to process data from exteroceptive sensors, thus allowing to map the environment and localize the robots. They have now reached a good level of maturity and taken an important place in localization problem solving. The presentation will show an example of SLAM technique, based on the integration of visual and inertial data, providing the position and speed of a mobile at a high rate. Some results will be presented and analyzed, and the integration of such approach within a system using other localization information, notably GPS, will be discussed.

Domaines: Robotique [cs.RO]

Simon Lacroix. Visual-inertial hybridization with SLAM. Application to mobile robotics. Workshop Hybridization GNSS and Video, Centres de Compétence Technique du CNES, Jul 2014, Toulouse, France. ⟨hal-01109192⟩