<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-00343546</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-03T16:39:03+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Map Fusion based on a multi-map SLAM framework</title>
            <author role="aut">
              <persName>
                <forename type="first">François</forename>
                <surname>Chanier</surname>
              </persName>
              <idno type="halauthorid">169845-0</idno>
              <affiliation ref="#struct-954"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Paul</forename>
                <surname>Checchin</surname>
              </persName>
              <email type="md5">e6ee5cf885f508ee161867704bf44e52</email>
              <email type="domain">uca.fr</email>
              <idno type="idhal" notation="string">paul-checchin</idno>
              <idno type="idhal" notation="numeric">16461</idno>
              <idno type="halauthorid" notation="string">38110-16461</idno>
              <idno type="IDREF">https://www.idref.fr/160348285</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-2930-3393</idno>
              <affiliation ref="#struct-954"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Christophe</forename>
                <surname>Blanc</surname>
              </persName>
              <email type="md5">a3a48023353351589ee10298c4361dc4</email>
              <email type="domain">uca.fr</email>
              <idno type="idhal" notation="string">christophe-blanc-ip</idno>
              <idno type="idhal" notation="numeric">17245</idno>
              <idno type="halauthorid" notation="string">924-17245</idno>
              <affiliation ref="#struct-954"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Laurent</forename>
                <surname>Trassoudaine</surname>
              </persName>
              <email type="md5">5df76aa7ea756dbe4a10464594f434de</email>
              <email type="domain">uca.fr</email>
              <idno type="idhal" notation="string">laurent-trassoudaine</idno>
              <idno type="idhal" notation="numeric">16911</idno>
              <idno type="halauthorid" notation="string">2912-16911</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-3486-3918</idno>
              <idno type="IDREF">https://www.idref.fr/13160211X</idno>
              <affiliation ref="#struct-954"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Paul</forename>
                <surname>Checchin</surname>
              </persName>
              <email type="md5">e6ee5cf885f508ee161867704bf44e52</email>
              <email type="domain">uca.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2008-12-01 23:48:06</date>
              <date type="whenModified">2023-03-24 14:52:51</date>
              <date type="whenReleased">2008-12-01 23:48:06</date>
              <date type="whenProduced">2008-08</date>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="113292">
                <persName>
                  <forename>Paul</forename>
                  <surname>Checchin</surname>
                </persName>
                <email type="md5">e6ee5cf885f508ee161867704bf44e52</email>
                <email type="domain">uca.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-00343546</idno>
            <idno type="halUri">https://hal.science/hal-00343546</idno>
            <idno type="halBibtex">chanier:hal-00343546</idno>
            <idno type="halRefHtml">&lt;i&gt;IEEE Conference on Multi Fusion and Integration for Intelligent Systems (MFI)&lt;/i&gt;, Aug 2008, Seoul, South Korea. pp.EA031</idno>
            <idno type="halRef">IEEE Conference on Multi Fusion and Integration for Intelligent Systems (MFI), Aug 2008, Seoul, South Korea. pp.EA031</idno>
            <availability status="restricted"/>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="PRES_CLERMONT">Université de Clermont</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-BPCLERMONT" corresp="PRES_CLERMONT">Université Blaise Pascal - Clermont-Ferrand II</idno>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Map Fusion based on a multi-map SLAM framework</title>
                <author role="aut">
                  <persName>
                    <forename type="first">François</forename>
                    <surname>Chanier</surname>
                  </persName>
                  <idno type="halauthorid">169845-0</idno>
                  <affiliation ref="#struct-954"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Paul</forename>
                    <surname>Checchin</surname>
                  </persName>
                  <email type="md5">e6ee5cf885f508ee161867704bf44e52</email>
                  <email type="domain">uca.fr</email>
                  <idno type="idhal" notation="string">paul-checchin</idno>
                  <idno type="idhal" notation="numeric">16461</idno>
                  <idno type="halauthorid" notation="string">38110-16461</idno>
                  <idno type="IDREF">https://www.idref.fr/160348285</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-2930-3393</idno>
                  <affiliation ref="#struct-954"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Christophe</forename>
                    <surname>Blanc</surname>
                  </persName>
                  <email type="md5">a3a48023353351589ee10298c4361dc4</email>
                  <email type="domain">uca.fr</email>
                  <idno type="idhal" notation="string">christophe-blanc-ip</idno>
                  <idno type="idhal" notation="numeric">17245</idno>
                  <idno type="halauthorid" notation="string">924-17245</idno>
                  <affiliation ref="#struct-954"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Laurent</forename>
                    <surname>Trassoudaine</surname>
                  </persName>
                  <email type="md5">5df76aa7ea756dbe4a10464594f434de</email>
                  <email type="domain">uca.fr</email>
                  <idno type="idhal" notation="string">laurent-trassoudaine</idno>
                  <idno type="idhal" notation="numeric">16911</idno>
                  <idno type="halauthorid" notation="string">2912-16911</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-3486-3918</idno>
                  <idno type="IDREF">https://www.idref.fr/13160211X</idno>
                  <affiliation ref="#struct-954"/>
                </author>
              </analytic>
              <monogr>
                <title level="m">MFI2008</title>
                <meeting>
                  <title>IEEE Conference on Multi Fusion and Integration for Intelligent Systems (MFI)</title>
                  <date type="start">2008-08</date>
                  <settlement>Seoul</settlement>
                  <country key="KR">South Korea</country>
                </meeting>
                <imprint>
                  <biblScope unit="pp">EA031</biblScope>
                  <date type="datePub">2008-08</date>
                </imprint>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halDomain" n="spi.signal">Engineering Sciences [physics]/Signal and Image processing</classCode>
              <classCode scheme="halDomain" n="info.info-ts">Computer Science [cs]/Signal and Image Processing</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>This paper presents a method for fusing two maps of an environment: one estimated with an application of the Simultaneous Localization and Mapping (SLAM) concept and the other one known a priori by a vehicle. The goal of such an application is double: first, to estimate the vehicle pose in this known map and, second, to constrain the map estimate with the known map using an implementation of the local maps fusion approach and a heterogeneous mapping of the environment. This article shows how a priori knowledge available in the form of a map can be fused within an EKF-SLAM framework to obtain more accuracy on the vehicle poses and map estimates. Simulation and experimental results are given to show these improvements.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-954" status="OLD">
          <orgName>Laboratoire des sciences et matériaux pour l'électronique et d'automatique</orgName>
          <orgName type="acronym">LASMEA</orgName>
          <date type="start">1994-01-01</date>
          <date type="end">1995-12-31</date>
          <desc>
            <address>
              <addrLine>24 Av des landais 63177 AUBIERE CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://wwwlasmea.univ-bpclermont.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-205618" type="direct"/>
            <relation name="URA 1793" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-205618" status="OLD">
          <orgName>Université Blaise Pascal - Clermont-Ferrand 2</orgName>
          <orgName type="acronym">UBP</orgName>
          <date type="end">2016-12-31</date>
          <desc>
            <address>
              <addrLine>34, avenue Carnot - BP 185 / 63006 Clermont-Ferrand cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-bpclermont.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>