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Real-Time Multi-SLAM System for Agent Localization and 3D Mapping in Dynamic Scenarios

Abstract : This paper introduces a Wearable SLAM system that performs indoor and outdoor SLAM in real time. The related project is part of the MALIN challenge which aims at creating a system to track emergency response agents in complex scenarios (such as dark environments, smoked rooms, repetitive patterns, building floor transitions and doorway crossing problems), where GPS technology is insufficient or inoperative. The proposed system fuses different SLAM technologies to compensate the lack of robustness of each, while estimating the pose individually. LiDAR and visual SLAM are fused with an inertial sensor in such a way that the system is able to maintain GPS coordinates that are sent via radio to a ground station, for real-time tracking. More specifically, LiDAR and monocular vision technologies are tested in dynamic scenarios where the main advantages of each have been evaluated and compared. Finally, 3D reconstruction up to three levels of details is performed.
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Contributor : Fernando Ireta Muñoz <>
Submitted on : Friday, August 7, 2020 - 2:46:10 PM
Last modification on : Saturday, August 29, 2020 - 3:23:18 AM


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  • HAL Id : hal-02913098, version 1


Pierre Alliez, Fabien Bonardi, Samia Bouchafa, Jean-Yves Didier, Hicham Hadj-Abdelkader, et al.. Real-Time Multi-SLAM System for Agent Localization and 3D Mapping in Dynamic Scenarios. International Confererence on Intelligent Robots and Systems (IROS 2020), Oct 2020, Las Vegas, NV, United States. ⟨hal-02913098⟩



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