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Localisation par vision monoculaire pour la navigation autonome

Abstract : We present a method for computing the localization of a mobile robot with reference to a learning video sequence. The robot is first guided on a path by a human, while the camera records a monocular learning sequence. Then a 3D reconstruction of the path and the environment is computed off line from the learning sequence. The 3D reconstruction is then used for computing the pose of the robot in real time in autonomous navigation. Results from our method are compared to the ground truth measured with a differential GPS or a rotating platform.
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https://hal.uca.fr/hal-03153648
Contributor : Eric Royer Connect in order to contact the contributor
Submitted on : Friday, February 26, 2021 - 3:40:40 PM
Last modification on : Tuesday, October 5, 2021 - 4:48:02 PM
Long-term archiving on: : Thursday, May 27, 2021 - 6:50:01 PM

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Eric Royer, Maxime Lhuillier, Michel Dhome, Jean-Marc Lavest. Localisation par vision monoculaire pour la navigation autonome. Traitement du Signal, Lavoisier, 2006, 23 (1), pp.95-107. ⟨hal-03153648⟩

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