Cyril Joly

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Safe and efficient navigation in large-scale unknown environments remains a key problem which has to be solved to improve the autonomy of mobile robots. SLAM methods can bring the map of the world and the trajectory of the robot. Monucular SLAM is a difficult problem. Currently, it is solved with an Extended Kalman Filter (EKF) using the inverse depth(More)
—This paper presents a metric global localization in the urban environment only with a monocular camera and the Google Street View database. We fully leverage the abundant sources from the Street View and benefits from its topo-metric structure to build a coarse-to-fine positioning, namely a topolog-ical place recognition process and then a metric pose(More)
— This paper presents a novel approach to self calibrate the extrinsic parameters of a camera mounted on a mobile robot in the context of fusion with the odometry sensor. Calibrating precisely such system can be difficult if the camera is mounted on a vehicule where the frame is difficult to localize precisely (like on a car for example). However, the(More)
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