SWIR Camera-Based Localization and Mapping in Challenging Environments - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2019

SWIR Camera-Based Localization and Mapping in Challenging Environments

Résumé

This paper assesses a monocular localization system for complex scenes. The system is carried by a moving agent in a complex environment (smoke, darkness, indoor-outdoor transitions). We show howusing a short-wave infrared camera (SWIR) with a potential lightingsource is a good compromise that allows to make just a slight adaptationof classical simultaneous localization and mapping (SLAM) techniques.This choice made it possible to obtain relevant features from SWIR images and also to limit tracking failures due to the lack of key points insuch challenging environments. In addition, we propose a tracking failure recovery strategy in order to allow tracking re-initialization with orwithout the use of other sensors. Our localization system is validatedusing real datasets generated from a moving SWIR-camera in indoor environment. Obtained results are promising, and lead us to consider theintegration of our mono-SLAM in a complete localization chain includinga data fusion process from several sensors.
Fichier principal
Vignette du fichier
IBISC_ICIAP_2019_07_15-3.pdf (1.3 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02271971 , version 1 (28-08-2019)

Identifiants

Citer

Viachaslau Kachurka, David Roussel, Hicham Hadj-Abdelkader, Fabien Bonardi, Jean-Yves Didier, et al.. SWIR Camera-Based Localization and Mapping in Challenging Environments. 20th International Conference on IMAGE ANALYSIS AND PROCESSING (ICIAP 2019), Sep 2019, Trento, Italy. pp.446--456, ⟨10.1007/978-3-030-30645-8_41⟩. ⟨hal-02271971⟩
179 Consultations
347 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More