Xavier SAVATIER — accepted AI-conference papers

2020

Autonomous RGBD-based Industrial Staircase Localization from Tracked Robots

Jérémy FOURRE, Vincent VAUCHEY, Yohan DUPUIS, Xavier SAVATIER

IROS 2020poster

This paper presents an industrial staircase localization algorithm based on RGBD data from a tracked robot. This situation is really challenging as the camera is placed close to the ground. Moreover, RGBD can be really noisy on sparse staircases. Contrary to existing works, our evaluation relies on…

Cited by 8 Source ↗Scholar ↗

2019

Camera Pose Estimation Based on PnL With a Known Vertical Direction

Louis Lecrosnier, Rémi Boutteau, Pascal Vasseur, Xavier Savatier, Friedrich Fraundorfer

RA-L 2019

In this letter, we address the problem of camera pose estimation using two-dimensional (2D) and 3-D line features, also known as PnL (Perspective-n-Line) with a known vertical direction. The minimal number of line correspondences required to estimate the complete camera pose is 3 (P3L) in the genera

Cited by 30 Source ↗Scholar ↗