Localization Orientation and 3D CArtography – LOCA-3D
The goal of this challenge is to develop and experiment accurate location solutions for emergency intervention officers and security forces. These solutions must be efficient inside buildings and more generally in conditions where satellite positioning systems do not work satisfactorily. The objective is to improve competences in autonomous location solutions (trajectography) in disturbed environment. Secondary functions such as agent orientation and 3D cartography (3D mapping) of visited areas are also expected.
Our LOCA-3D Project (Location, Orientation and 3D CArtography) aim is to overcome this lack of knowledge in technical and technological aspects of indoor location while respecting the challenge constraints. Our solution based on combination of several sensors (inertial and optical) allows the primary locating function and the secondary functions (orientation and 3D mapping) to be executed.
The concept is based on an advanced inertial system allowing the agent trajectory to be calculated. A part of the inertial sensor drift is compensated by the vision system which simultaneously generates scatter plots. The trajectory reconstitution of the moving system allows these scatter plots to be referenced in a global system. Transversely, the solution uses robust methods of 3D reconstruction from scatter plots and measurement noise filtering in order to keep the coherent part of the information. The 3D mapping will be executed by off-line and progressive reconstruction. The proposed consortium is complementary. Each partner will bring a strong added value to the development of the global solution.
Project coordination
Maxime ROBIN (INNODURA TB)
The author of this summary is the project coordinator, who is responsible for the content of this summary. The ANR declines any responsibility as for its contents.
Partner
IBISC Informatique, Biologie Intégrative et Systèmes Complexes
INNODURA TB
INRIA Institut National de Recherche en Informatique et Automatique
Help of the ANR 699,611 euros
Beginning and duration of the scientific project:
November 2017
- 36 Months