Real-time globally consistent GPS tracking is critical for an accurate localization and crucial applications such as autonomous navigation or multi-robot mapping. However, under challenging environment conditions indoor/outdoor transitions, signals are partially available not over time. In this paper, a real-time system continuously locating emergency response agents in presented. A cooperative method based on Laser-Visual-Inertial (LVI) sensors achieved by communicating optimization events...

Large-scale distributed hydrological modeling is nowadays more widely applied for water resource management. To ensure the spatial consistency of parameters, an alternative calibration strategy suggested: global calibration. This approach aims to identify a single parameter set suitable every stations located within modeled domain. A procedure and tested over large portion St. Lawrence River basin (387,000 km2) using Hydrotel, physically based semidistributed model. Despite limitations in...

The major problem with augmented reality (AR) systems using see-through head mounted displays (HMD's) is the end-to-end system delay (or latency). This exists because tracker, scene generator, and communication links require time to perform their tasks, causing a lag between measurement of location display corresponding virtual objects inside HMD. One way eliminate or reduce latency predict future locations. We propose use optimal Bayesian algorithms for non-linear/non-Gaussian tracking...

This paper introduces a Wearable SLAM system that performs indoor and outdoor in real time. The related project is part of the MALIN challenge which aims at creating to track emergency response agents complex scenarios (such as dark environments, smoked rooms, repetitive patterns, building floor transitions doorway crossing problems), where GPS technology insufficient or inoperative. proposed fuses different technologies compensate lack robustness each, while estimating pose individually....

This paper describes the ongoing developments in Photogrammetry and Mixed Reality for Venus European project (Virtual ExploratioN of Underwater Sites, http://www.venus-project.eu). The main goal is to provide archaeologists general public with virtual augmented reality tools exploring studying deep underwater archaeological sites out reach divers. These have be reconstructed terms environment (seabed) content (artifacts) by performing bathymetric photogrammetric surveys on real site matching...

This paper describes an extension of the popular simultaneous localisation and mapping system (RGB-D SLAM) introduced by Endres et al. In [2]. RGB-D SLAM uses a moving sensor (i.e. A Kinect) to incrementally produce graph-based camera pose trajectory along with global 3D map environment composed potentially millions points. The goal here is which not only points but also planes as indoor scenes are mostly planar features such floor, walls, desks other furnitures. These directly detected...

For neuromorphic vision sensors such as event-based cameras, a paradigm shift is required to adapt optical flow estimation it critical for many applications. Regarding the costly computations, Principal Component Analysis (PCA) approach adapted problem of estimation. We propose different PCA regularization methods enhancing efficiently. Furthermore, we show that variants our proposed method, dedicated real-time context, are about two times faster than state-of-the-art implementations while...

This paper presents a use case for SLAM techniques applied to real time localization and detailed mapping emergency response personnel in non cooperative environments. Such environments tend defeat conventional approaches, therefore we must ensure continuous operation of our regardless the difficulties encountered (lack GPS signals, lighting conditions, smoke, etc.). The proposed system fuses two algorithms, LiDAR-based camera-based. Since uses dense 3D measurements, it is well suited...

One of the key problems in Augmented Reality systems, is synchronization real and virtual world. In context our research efforts, we need to augment a view world with elements which first requires determine position orientation point then compute according this location. reality uses lot different sensors order estimate camera or operator's view. These could provide samples faster than mixing informations be displayed. We expose here way take into account that are generated during process by...

Navigation in virtual environments is a complex task which imposes high cognitive load on the user. It consists maintaining knowledge of current position and orientation user while he moves through space. In this paper, we present novel approach for navigation 3D environments. The method based principle skiing, idea to provide total control his speed rotation using two hands. This technique enables user‐steered exploration by determining direction motion positions A module included easily...

La Réalité Augmentée (RA) est un paradigme permettant de rendre disponibles des informations numériques complétant la perception du réel. RA rendue possible par système capable faire coexister spatialement, et temporellement, environnement virtuel avec le monde Cette coexistence a pour objectif l'enrichissement l'utilisateur son réel augmentations visuelles, sonores ou haptiques. L'objectif cet article lumière sur technologie, les techniques recherches actuelles systèmes dédiés à RA, d'une...

Abstract Despite recent advancements, safely and reliably tracking individual movements over extended periods, particularly within complex social groups, remains challenging. Traditional methods like colour coding, tagging, RFID tracking, while effective, have notable practical limitations. State-of-the-art neural network-based trackers often struggle to maintain identities in large groups for more than a few seconds. Fiducial tags ArUco codes present potential solution by enabling accurate...

Mice living in complex social groups within ethological environments exhibit a wide range of adaptive behaviors, including individual and group dynamics, often undetected standard behavioral studies. To better understand the coping strategies employed by each member colony, it is necessary to develop tools that enable accurate, long-term monitoring large animals fully automated unbiased manner. In this work, we introduce PrecisionTrack, practical solution multi-animal pose tracking problem....

Event-Based cameras (also known as Dynamic Vision Sensors DVS) have been used extensively in robotics during the last ten years and proved ability to solve many problems encountered this domain. Their technology is very different from conventional which requires rethinking existing paradigms reviewing all classical image processing computer vision algorithms. We show paper how are naturally adapted estimate on fly scene gradients hence visual flow. Our work starts with a complete study of...

One of the key problems in augmented reality systems is registration, that to say synchronization real and virtual world. Augmented uses a lot different sensors order estimate camera or operator's point view. These could provide samples faster than mixing information be displayed. We expose here way fake into account are generated during process. This method using post-rendering technique involving texture perform this task. errors reduction obtained by performing such with simulation...

This paper presents a new method for automatic matching between free form 3D object and single image. can be used recognition and/or recovering. kind of problem has raised tremendous amount interest in research fields such as computer vision, more specifically augmented reality. The original idea brought by our is to use photo-clinometric framework (such shape from shading) order extract normal vectors information the Our focused on distribution angles surface vector incident light vector....