Estimation temps réel d'un MNT basé sur un processus SLAM incluant un télémètre laser et une caméra

Abstract

International audienceThis paper is about environment perception for navigation system in outdoor applications. Unlike other approaches that try to detect an obstacle of binary state, we consider here a Digital Elevation Map (DEM). This map has to be built in regards to the guidance system's needs. These needs depend on the vehicle capabilities, its dynamics constraints, its speed etc... Starting with the navigation system's needs, our goal is to estimate a precise and dense DEM. Our approach is based on a SLAM algorithm combining a one map rangefinder and a camera to estimate both the displacament between two laser scan and a good density of the reconstructed DEM. The approach has been validated both using simulated realistic data and in real conditions on our robot in outdoor environement in real-time (approx. 40ms loop)