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In this paper, we tackle the problem of map estimation from small set of vehicular GPS traces collected from low cost devices. Contrary to the existing works, we rely only on GPS information. First, we propose a fast implementation of Kalman filtering of spline-based road modeling. Our approach demonstrates a significant boost of the computation speed while maintained a good estimation error. Secondly,...
This article studies the feasibility of an exteroceptive system for the contactless control of a motion-compensated gangway which can be used for maintenance operations on offshore wind farms. Our study shows that current systems based only on inertial systems are not accurate enough to ensure the gangway is held in place without being secured mechanically. Using measurements from a 2D LIDAR system,...
In this paper, we present a dense 3D reconstruction algorithm adapted to stereoscopic omni directional sensors. Our main contributions are the generalization of global constraints to central systems and the use of dynamic programming to take them into account. Experimental results show the interest of our algorithm on real data.
In future Advanced Driver Assistance Systems (ADAS), smart monitoring of the vehicle environment is a key issue. Fisheye cameras have become popular as they provide a panoramic view with a few low-cost sensors. However, current ADAS systems have limited use as most of the underlying image processing has been designed for perspective views only. In this article we illustrate how the theoretical work...
This paper proposes a scheme for a 3D metric reconstruction of the environment of a mobile robot. We first introduce the advantages of a catadioptric stereovision sensor for autonomous navigation and how we have designed it with respect to the Single Viewpoint constraint. For applications such as path generation, the robot needs a metric reconstruction of its environment, so calibration of the sensor...
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