Combining multiple sensor modalities for a localisation robust to smoke

@article{Brunner2011CombiningMS,
  title={Combining multiple sensor modalities for a localisation robust to smoke},
  author={Christopher Joseph Brunner and Thierry Peynot and Teresa A. Vidal-Calleja},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={2489-2496}
}
This paper proposes an approach to obtain a localisation that is robust to smoke by exploiting multiple sensing modalities: visual and infrared (IR) cameras. This localisation is based on a state-of-the-art visual SLAM algorithm. First, we show that a reasonably accurate localisation can be obtained in the presence of smoke by using only an IR camera, a sensor that is hardly affected by smoke, contrary to a visual camera (operating in the visible spectrum). Second, we demonstrate that improved… CONTINUE READING

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