Post Doc - Simultaneous Localisation and Mapping with an RGB-D camera based on a direct and sparse method

PsD-DRT-18-0038

RESEARCH FIELD
Computer science and software

ABSTRACT
Recent advances in the methods of locating a device (smartphone, robot) in relation to its environment make it possible to consider the deployment of augmented reality solutions and autonomous robots. The interest of RGB-D cameras in such a context is notable since it allows to directly acquire the depth map of the perceived scene.The objective of this post docorate consists in developping a new SLAM (Simultaneous Localisation and Mapping) method relying on a depth sensor.To reach a solution both robust, accurate and with small CPU/memory comsumption, the depth image will be exploited though a direct and sparse approach. The resulting solution will be then combined with the solution of "RGB SLAM Constrained to a CAD model" developped in our laboratory, resulting finaly in an "RGB-D SLAM Constrained to a CAD model"

LOCATION
Département Intelligence Ambiante et Systèmes Interactifs (LIST)

Vision & Ingénierie des Contenus (SAC)

Saclay

CONTACT PERSON
BOURGEOIS Steve

CEA

DRT/DIASI//LVIC/SAC

CEA LIST DIASI/LVIC CEA Saclay - NANO INNOV Bât 861 – Point courrier 17391191 Gif-sur-Yvette Cedex – France

Phone number: +33(0)1 69 08 95 94

Email: steve.bourgeois@cea.fr

START DATE
As soon as possible

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