Accurate Indoor Localization through Constrained Visual SLAM - Archive ouverte HAL Access content directly
Journal Articles 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN) Year : 2017

Accurate Indoor Localization through Constrained Visual SLAM

(1, 2) , (1, 2) , (1, 2) , (1, 2)
1
2

Abstract

— In this paper, we focus on navigation in indoor environments using Visual SLAM (VSLAM). We propose an approach to suppress the known drifting issue of VSLAM and express its localization in building coordinate frame. It relies on a database built offline through a coarse to fine strategy that registers and refines a VSLAM reconstruction by taking advantage of the building 3D model. The database can then be extended online when the user goes out and comes back in the known environment. We present experimental results on synthetic and real data.
Fichier principal
Vignette du fichier
167.pdf (1.1 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

cea-01830464 , version 1 (05-07-2018)

Identifiers

  • HAL Id : cea-01830464 , version 1

Cite

Olivier Gomez, Achkan Salehi, Vincent Gay-Bellile, Mathieu Carrier. Accurate Indoor Localization through Constrained Visual SLAM. 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017. ⟨cea-01830464⟩
156 View
283 Download

Share

Gmail Facebook Twitter LinkedIn More