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Quelques contributions en localisation et cartographie simultanées multi-capteurs : application à la réalité augmentée

Abstract : Gathering informations from the images of a camera, over time, in order to map the environment and localize the camera in it, is a task refered to as Simultaneous Localization and Mapping, or SLAM. Developped both by the robotics and computer vision scientific communities, its applications are many. Robots gain autonomy from this ability. Quite recently, impressive results have been obtained in applications to autonomous transportation vehicles. Another field of application is augmented reality. The localization offered by SLAM enables us to display virtual objects in a consistent way a user movements. Thus, cinema, video games, tourisme applications can benefit from SLAM methods. Visual aids to workers performing complex or repetetive tasks is also an interesting application of SLAM methods. During this PhD thesis, we took interest in SLAM with the idea of realistic augmented reality applications in mind. Though the topic has been extensively explored and many impressive results obtained, the task isn't completely solved. The problem is still an open one, regarding spatial facets (drift, loop closure) as well as temporal (processing time). As part of our monocular SLAM explorations, we mainly studied the drift issue. We then explored multisensor SLAM, both as a mean to handle problematical rotational movements for the monocular setup and as mean to reduce the substantial processing times needed to solve the problem.
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Submitted on : Tuesday, April 24, 2018 - 12:30:39 PM
Last modification on : Saturday, May 1, 2021 - 3:38:53 AM
Long-term archiving on: : Tuesday, September 18, 2018 - 9:30:58 AM


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  • HAL Id : tel-01763869, version 1


Maxime Boucher. Quelques contributions en localisation et cartographie simultanées multi-capteurs : application à la réalité augmentée. Traitement du signal et de l'image [eess.SP]. Université d'Evry-Val-d'Essonne, 2014. Français. ⟨NNT : 2014EVRY0055⟩. ⟨tel-01763869⟩



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