@InProceedings{gergondet:urai:2014,
  author    = {Gergondet, Pierre and Petit, Damien and Meilland, Maxime and Kheddar, Abderrahmane and Comport, Andrew and Cherubini, Andrea},
  title     = {Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environments},
  booktitle = {International Conference on Ubiquitous Robots and Ambient Intelligence},
  year      = {2014},
  address   = {Kuala Lumpur, Malaysia},
  month     = {November 12-November 15},
  url       = {https://hal-lirmm.ccsd.cnrs.fr/lirmm-01247142/document},
  keywords  = {Simultaneous localization and mapping, Navigation, Humanoid robots, Software, Printers, Object recognition},
  doi       = {10.1109/URAI.2014.7057501},
  abstract  = {In this paper, we draw perspectives to endow a humanoid robot with capabilities to reach known object in an indoor environment by combining continuous monitoring and building using SLAM and visual tracking. We integrates and exploits two key features: object recognition using the toolbox BLORT, and a SLAM (Simultaneous Localization And Mapping) software, that unifies volumetric 3D modeling and image-based key-frame modeling to be used in tracking. Using these two modules, we show that it is possible to reach a given object in the environment providing its model is registered and known. Our integration software is exemplified using a humanoid robot HRP-2, we present experimental results that illustrates the performance of our approach.}
}