37 3.2.3.1 L'algorithme d, p.41 ,
1 Justification du choix de certains paramètres pour notre optimisation, p.109 ,
2 montre que plus le nombre de voisins est grand, plus l'algorithme converge rapidement . Cependant, la valeur de l'énergie est aussi plus grande, bien que l'ordre de grandeur soit le même (les valeurs finales vont de 1 ,
Land-based mobile mapping systems Photogrammetric engineering and remote sensing, pp.13-17, 2002. ,
Algorithmic Solutions for Computing Precise Maximum Likelihood 3D Point Clouds from Mobile Laser Scanning Platforms, Remote Sensing, vol.31, issue.12, pp.5871-5906, 2013. ,
DOI : 10.1145/1114268.1114277
URL : http://www.mdpi.com/2072-4292/5/11/5871/pdf
Faro LIDAR sensor (2017) http://www.faro.com/fr-fr/ produits/releve-3d/scanner-laser-3d-faro-focus-3d/apercu, 2017. ,
On-line Calibration of Multiple LIDARs on a Mobile Vehicle Platform, International Conference on Robotics and Automation, p.36, 2010. ,
Static Calibration and Analysis of the Velodyne HDL-64E S2 for High Accuracy Mobile Scanning, Remote Sensing, vol.2, issue.12, pp.1610-1624, 2010. ,
DOI : 10.1179/003962608X291031
The Ohio State University Mapping System : The Stereo Vision System Component The Institute of Navigation(ION), Proceedings of the 47th annual meeting, pp.121-124, 1991. ,
An integrated on-board laser range sensing system for on-the-way city and road modelling, pp.78-83, 2007. ,
URL : https://hal.archives-ouvertes.fr/hal-01259660
Localisation et cartographie simultanées en environnement extérieur à partir de données issues d'un radar panoramique hyperfréquence, Thèse de doctorat, pp.41-42, 2012. ,
Comparison and analysis of scan matching techniques for Cooperative-SLAM, 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2011. ,
DOI : 10.1109/URAI.2011.6145953
(Cité en page 1.) [Hokuyo LIDAR sensor, 2017] Hokuyo LIDAR sensor, pp.12-14, 2017. ,
Closed-form solution of absolute orientation using unit quaternions, Journal of the Optical Society of America A, vol.4, issue.4, pp.629-642, 1987. ,
DOI : 10.1364/JOSAA.4.000629
A novel Multi-Planar LIDAR and Computer Vision Calibration Procedure Using 2D Patterns for Automated Navigation. Intelligent Vehicles Symposium, Xi'an, China, IEEE, pp.11-22, 2009. ,
DOI : 10.1109/ivs.2009.5164263
Extrinsic calibration of a multi-beam LiDAR system with improved intrinsic laser parameters using v-shaped planes and infrared images, IVMSP 2013, pp.2013-2024, 2013. ,
DOI : 10.1109/IVMSPW.2013.6611921
A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.28, issue.8, pp.1335-1340, 2006. ,
DOI : 10.1109/TPAMI.2006.153
URL : http://www.ee.oulu.fi/~jkannala/calibration/Kannala_Brandt_calibration.pdf
Visual SLAM for autonomous ground vehicles, 2011 IEEE International Conference on Robotics and Automation, pp.1732-1737, 2011. ,
DOI : 10.1109/ICRA.2011.5979711
URL : http://rainsoft.de/publications/icra11.pdf
Leica GNSS sensor (2017) http://leica-geosystems.com/fr-fr/ products/gnss-systems. Dernier accés le, pp.12-14, 2017. ,
Unsupervised Calibration for Multibeam Lasers, International Symposium on Experimental Robotics. (Cité en pages 37, pp.44-53, 2010. ,
Develop Backpack Mobile Mapping System Based Open Source Softaware and Hardware Platform, 8th International Symposium on Mobile Mapping Technology, pp.1-3, 2013. ,
Calibration method for extending single-layer LIDAR to multi-layer LIDAR, Proceedings of the 2013 IEEE/SICE International Symposium on System Integration, pp.677-681, 2013. ,
DOI : 10.1109/SII.2013.6776618
Globally Consistent Range Scan Alignment for Environment Mapping, Autonomous Robots, vol.4, issue.4, pp.333-349, 1997. ,
DOI : 10.1023/A:1008854305733
Lost in translation (and rotation): Rapid extrinsic calibration for 2D and 3D LIDARs, 2012 IEEE International Conference on Robotics and Automation, pp.11-35, 2012. ,
DOI : 10.1109/ICRA.2012.6224607
Appearance-based loop detection from 3D laser data using the normal distributions transform, 2009 IEEE International Conference on Robotics and Automation, pp.23-28, 2009. ,
DOI : 10.1109/ROBOT.2009.5152712
Scan registration for autonomous mining vehicles using 3D-NDT, Journal of Field Robotics, vol.10, issue.10, pp.803-827, 2007. ,
DOI : 10.1002/rob.20204
URL : http://eprints.lincoln.ac.uk/1615/1/mm_al_td_jfr2007.pdf
Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT, 2009 IEEE International Conference on Robotics and Automation, pp.3907-3912, 2009. ,
DOI : 10.1109/ROBOT.2009.5152538
A lasers and cameras calibration procedure for VIAC multi-sensorized vehicles, 2012 IEEE Intelligent Vehicles Symposium, pp.548-553, 2012. ,
DOI : 10.1109/IVS.2012.6232214
3D LIDAR???camera intrinsic and extrinsic calibration: Identifiability and analytical least-squares-based initialization, The International Journal of Robotics Research, vol.41, issue.4, pp.452-467, 2012. ,
DOI : 10.15607/RSS.2009.V.030
URL : http://www.cs.umn.edu/%7Estergios/papers/IJRR-2012-LidarCameraCalib.pdf
Registration of terrestrial mobile laser data on 2D or 3D geographic database by use of a non-rigid ICP approach., ISPRS Workshop Laser Scanning 2013, pp.11-13, 2013. ,
DOI : 10.5194/isprsannals-II-5-W2-193-2013
Large-Scale Robotic 3-D Mapping of Urban Structures, pp.141-150, 2006. ,
Predicting the Performance of Cooperative Simultaneous Localization and Mapping (C-SLAM), The International Journal of Robotics Research, vol.17, issue.1, pp.1273-1286, 2006. ,
DOI : 10.1177/02783640122067435
Calibration of a rotating Multi-Beam LIDAR, IEEERSJ International Conference on Intelligent Robots and Systems, 2010. ,
Outdoor SLAM using visual appearance and laser ranging, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.1180-1187, 2006. ,
DOI : 10.1109/ROBOT.2006.1641869
A Man-Portable, Imu-Free Mobile Mapping System. ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences, II-3, pp.17-23, 2015. ,
Linearization of rotations for globally consistent n-scan matching, 2010 IEEE International Conference on Robotics and Automation, pp.1373-1379, 2010. ,
DOI : 10.1109/ROBOT.2010.5509306
6D SLAM???3D mapping outdoor environments, Journal of Field Robotics, vol.23, issue.8-9, pp.699-722, 2007. ,
DOI : 10.1109/TRO.2004.829506
6D SLAM with an application in autonomous mine mapping, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.1998-2003, 2004. ,
DOI : 10.1109/ROBOT.2004.1308117
Exploitation de l'intensité du signal LASER d'un LiDAR topographique aéroporté pour des environnements littoraux sableux, Thèse de doctorat, 2013. ,
Numerical recipes in C) : the art of scientific computing, pp.671-675, 1992. ,
https://sites.google.com/ site, Projet Terra Mobilita, pp.12-14, 2017. ,
http://www.riegl.com/nc/ products/mobile-scanning/. Dernier accés le 12-02-2017. (Cité en page 24.) [Rusinkiewicz et Levoy Efficients Variants of the ICP Algorithm, Proceedings. Third International Conference on 3-D Digital Imaging and Modeling, pp.145-152, 2001. ,
On benchmarking camera calibration and multi-view stereo for high resolution imagery, 2008 IEEE Conference on Computer Vision and Pattern Recognition, 2008. ,
DOI : 10.1109/CVPR.2008.4587706
URL : https://infoscience.epfl.ch/record/126393/files/strecha_cvpr_2008.pdf
Design and Error Analysis of Accelerometer- Based Inertial Navigation Systems. California PATH Research Report, California PATH Program, Institue of Transportation Studies, 2002. ,
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures, The International Journal of Robotics Research, vol.25, issue.5-6, pp.403-430, 2005. ,
DOI : 10.1163/156855301317033559
Trimble GNSS sensor (2017) http://www.trimble.com/ Survey/GNSS-Surveying-Systems.aspx. Dernier accés le, pp.12-14, 2017. ,
Trimble LIDAR sensor (2017) http://www.trimble.com/ 3d-laser-scanning/index.aspx. Dernier accés le, pp.12-14, 2017. ,
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses, IEEE Journal on Robotics and Automation, vol.3, issue.4, pp.323-344, 1987. ,
DOI : 10.1109/JRA.1987.1087109
Zippered polygon meshes from range images, Proceedings of the 21st annual conference on Computer graphics and interactive techniques , SIGGRAPH '94, pp.311-318, 1994. ,
DOI : 10.1145/192161.192241
Velodyne LIDAR sensors (2017) http://velodynelidar. com/products.html. Dernier accés le 12-02-2017, 2017. ,
Perception de l'environnement par radar hyperfréquence Application à la localisation et la cartographie simultanées, à la détection et au suivi d'objets mobiles en milieu extérireur, Thèse de doctorat, 2011. ,
Camera calibration with distortion models and accuracy evaluation, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.14, issue.10, pp.965-980, 1992. ,
DOI : 10.1109/34.159901
Dernier accés le 12-02-2017. (Cité en page 18 ,
An introduction to inertial navigation, pp.18-26, 2007. ,
Point-to-line metric based Iterative Closest Point with bounded scale, Proceedings of the 4th IEEE Conference on Industrial Electronics and Applications, pp.3032-3037, 2009. ,
Unsupervised Extrinsic Parameters Calibration for Multi-beam LIDARs, Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013), pp.1110-1113, 2013. ,
DOI : 10.2991/iccsee.2013.278