{"id":3491,"date":"2020-01-31T10:29:34","date_gmt":"2020-01-31T10:29:34","guid":{"rendered":"https:\/\/herbanatur.com\/geolocalisation-mapping\/"},"modified":"2026-03-17T08:31:56","modified_gmt":"2026-03-17T08:31:56","slug":"geolocalisation-mapping","status":"publish","type":"page","link":"https:\/\/www.herbanatur.com\/ca\/fr\/geolocalisation-mapping\/","title":{"rendered":"G\u00e9olocalisation et cartographie"},"content":{"rendered":"\t\t
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G\u00e9olocalisation & Cartographie<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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Caract\u00e9risation de sites probl\u00e9matiques<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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Herbanatur se sp\u00e9cialise depuis pr\u00e8s de deux d\u00e9cennies dans le domaine de la g\u00e9om\u00e9trie informatique, la localisation et la cartographie simultan\u00e9es sont le probl\u00e8me informatique de la construction ou de la mise \u00e0 jour d’une carte d’un environnement inconnu tout en gardant la trace de l’emplacement d’un agent en son sein.<\/p>

Construire une carte, la localiser dans la carte et planifier \u00e0 l’aide de la carte sont des probl\u00e8mes fondamentaux pour la robotique mobile. Chaque syst\u00e8me robotique mobile doit int\u00e9grer un certain type de solution aux trois probl\u00e8mes.<\/p>

Bien que l’interd\u00e9pendance entre la cartographie et la localisation soit bien connue sous le nom de probl\u00e8me de localisation et de cartographie simultan\u00e9es (SLAM), la communaut\u00e9 des chercheurs comprend de plus en plus la planification de la fa\u00e7on dont le robot g\u00e8re la cartographie et l’exploration d’un environnement (et fonctionne ensuite dans l’environnement). peut \u00e9viter des conditions d\u00e9g\u00e9n\u00e9r\u00e9es et r\u00e9duire consid\u00e9rablement la complexit\u00e9 de SLAM. Ainsi, la t\u00e2che d’explorer un nouvel environnement combine les trois probl\u00e8mes, car le robot doit pr\u00e9voir de trouver des actions qui r\u00e9duisent l’incertitude dans la cartographie et la localisation. Ce probl\u00e8me combin\u00e9 est appel\u00e9 Active SLAM.<\/p>

Ind\u00e9pendamment, SLAM et la planification ont \u00e9t\u00e9 r\u00e9solus dans de petits domaines structur\u00e9s en deux dimensions. Les robots doivent aller au-del\u00e0 de ces environnements simples. Le d\u00e9fi est de d\u00e9velopper des m\u00e9thodes Active SLAM en temps r\u00e9el qui permettent aux robots d’explorer de grands environnements non structur\u00e9s en trois dimensions et de permettre un fonctionnement ult\u00e9rieur dans ces environnements sur de longues p\u00e9riodes.<\/p>

Mais la mise \u00e0 l’\u00e9chelle vers des environnements vraiment grands n\u00e9cessite une deuxi\u00e8me vision cl\u00e9 au-del\u00e0 d’Active SLAM: pour contourner les limitations d’\u00e9chelle inh\u00e9rentes \u00e0 SLAM, le monde peut \u00eatre divis\u00e9 en \u00e9l\u00e9ments plus g\u00e9rables ou sous-cartes. Le probl\u00e8me SLAM devient alors un SLAM segment\u00e9<\/p>

probl\u00e8me, qui repr\u00e9sente le monde avec une carte m\u00e9trique et topologique combin\u00e9e, construisant des sous-cartes m\u00e9triques si n\u00e9cessaire et affinant les relations topologiques entre les sous-cartes.<\/p>

La contribution de cette th\u00e8se est une approche Active SLAM en temps r\u00e9el qui combine une nouvelle repr\u00e9sentation volum\u00e9trique bas\u00e9e sur une grille de preuves, un filtre \u00e0 particules robuste Rao-Blackwellized, un cadre de segmentation de sous-carte topologiquement flexible et une m\u00e9thode de planification stochastique int\u00e9gr\u00e9e<\/p>

pour r\u00e9duire l’incertitude SLAM et pr\u00e9voir les fermetures possibles de boucles en fonction de la structure de la carte locale. Nous montrons nos m\u00e9thodes sur plusieurs plateformes robotiques dans des environnements tridimensionnels grands et non structur\u00e9s.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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G\u00e9olocalisation & Cartographie Caract\u00e9risation de sites probl\u00e9matiques Herbanatur se sp\u00e9cialise depuis pr\u00e8s de deux d\u00e9cennies dans le domaine de la g\u00e9om\u00e9trie informatique, la localisation et la cartographie simultan\u00e9es sont le probl\u00e8me informatique de la construction ou de la mise \u00e0 jour d’une carte d’un environnement inconnu tout en gardant la trace de l’emplacement d’un agent […]<\/p>\n","protected":false},"author":2,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"site-sidebar-layout":"no-sidebar","site-content-layout":"page-builder","ast-site-content-layout":"full-width-container","site-content-style":"unboxed","site-sidebar-style":"unboxed","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"disabled","ast-breadcrumbs-content":"","ast-featured-img":"disabled","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"default","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"class_list":["post-3491","page","type-page","status-publish","hentry"],"yoast_head":"\nG\u00e9olocalisation et cartographie - Herbanatur<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.herbanatur.com\/ca\/fr\/geolocalisation-mapping\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"G\u00e9olocalisation et cartographie - Herbanatur\" \/>\n<meta property=\"og:description\" content=\"G\u00e9olocalisation & Cartographie Caract\u00e9risation de sites probl\u00e9matiques Herbanatur se sp\u00e9cialise depuis pr\u00e8s de deux d\u00e9cennies dans le domaine de la g\u00e9om\u00e9trie informatique, la localisation et la cartographie simultan\u00e9es sont le probl\u00e8me informatique de la construction ou de la mise \u00e0 jour d’une carte d’un environnement inconnu tout en gardant la trace de l’emplacement d’un agent […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.herbanatur.com\/ca\/fr\/geolocalisation-mapping\/\" \/>\n<meta property=\"og:site_name\" content=\"Herbanatur\" \/>\n<meta property=\"article:publisher\" content=\"https:\/\/facebook.com\/herbanatur\" \/>\n<meta property=\"article:modified_time\" content=\"2026-03-17T08:31:56+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.herbanatur.com\/ca\/wp-content\/uploads\/2019\/07\/logo-leaf-new.png\" \/>\n\t<meta property=\"og:image:width\" content=\"75\" \/>\n\t<meta property=\"og:image:height\" content=\"33\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/png\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data1\" content=\"2 minutes\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/www.herbanatur.com\\\/ca\\\/fr\\\/geolocalisation-mapping\\\/\",\"url\":\"https:\\\/\\\/www.herbanatur.com\\\/ca\\\/fr\\\/geolocalisation-mapping\\\/\",\"name\":\"G\u00e9olocalisation et cartographie - 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