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Integrating Photogrammetry and Inertial Sensors for Robotics Navigation and Mapping

Publications associées (42)

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Bayesian Approach for Indoor Pedestrian Localisation

Michel Bierlaire, Bertrand Merminod

The principal concept of navigation is to start from a known (initial) position and to ensure a continued and reliable localisation of the user during his/her movement. The initial position of the trajectory is usually obtained via GPS or defined by the us ...

2006

Bayesian Inference for Autonomous Personal Localisation Indoors

Michel Bierlaire, Bertrand Merminod

2006

Topological SLAM

Adriana Tapus

This thesis is about topological navigation, more precisely about space representation, perception, localization and mapping. All these elements are needed in order to obtain a robust and reliable framework for navigation. This is essential in order to mov ...

EPFL2005

Inertial and 3D-odometry fusion in rough terrain Towards real 3D navigation

Roland Siegwart, Pierre Lamon

Many algorithms related to localization need good pose prediction in order to produce accurate results. This is especially the case for data association algorithms, where false feature matches can lead to the localization system failure. In rough terrain, ...

2004

Indoor Navigation Performance Analysis

Pierre-Yves Gilliéron, Bertrand Merminod

INDOOR NAVIGATION PERFORMANCE ANALYSIS 1. Context of indoor navigation The objective of this research is to define and to implement a dedicated data model for indoor applications. Based on this specific model, route guidance and navigation algorithms ca ...

enc gnss 20042004

Indoor Navigation Performance Analysis

Pierre-Yves Gilliéron, Bertrand Merminod

Context of indoor navigation The objective of this research is to define and to implement a dedicated data model for indoor applications. Based on this specific model, route guidance and navigation algorithms can be integrated in order to develop applic ...

2004

Photobus: Towards Real-Time Mapping

Jan Skaloud, Pierre-Yves Gilliéron, Hervé Gontran

The Geodetic Engineering Laboratory at EPFL has designed a mobile mapping system to determine the geometry of the road: the Photobus. This paper describes major steps that move the Photobus towards a real-time mapping system. ...

2004

Estimating the Odometry Error of a Mobile Robot during Navigation

Roland Siegwart

This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter es ...

2003

GPS/INS integration for pedestrian navigation

This research has been sponsored by the Centre Suisse d'Electronique et de Microtechnique (CSEM) in Neuchâtel, Switzerland. It introduces a system and the algorithms for Pedestrian Navigation using a combination of sensors. The main objective is to localis ...

EPFL2003

Multi-resolution SLAM for Real World Navigation

Roland Siegwart, Adriana Tapus, Kai Oliver Arras

In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the probl ...

2003