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Communication Dans Un Congrès Année : 2019

TRAJECTOGRAPHY ESTIMATION FOR A SMART POWERED WHEELCHAIR ORB-SLAM2 VS RTAB-MAP A PREPRINT

Résumé

This work is part of the ADAPT project relating to the implementation of a trajectography functionality that aims to measure the path travelled by a patient during the clinical trials. This system (hardware and software) must be reliable, quickly integrable, low-cost and real-time. Therefore, our choices have been naturally made towards visual SLAM-based solutions coupled with an Intel real-sense consumer sensors. This paper is a comparison of two well-known visual SLAM algorithms in the scientific community, ORB-SLAM2 and RTAB-Map, evaluated in different path configurations. The added value of our work lies in the accurate estimation of the trajectories achieved through the use of a VICON motion capture system.
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Dates et versions

hal-02343517 , version 1 (02-11-2019)

Identifiants

  • HAL Id : hal-02343517 , version 1

Citer

Nicolas Ragot, Redouane Khemmar, Adithya Pokala, Romain Rossi, Benoit Decoux, et al.. TRAJECTOGRAPHY ESTIMATION FOR A SMART POWERED WHEELCHAIR ORB-SLAM2 VS RTAB-MAP A PREPRINT. M2SC (modélisation systémique de systèmes cyber-physiques), Jun 2019, Poitiers, France. ⟨hal-02343517⟩
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