GeoNetwork: metadata and cataloging. French (GeoSource) and Swiss (geocat.ch) experiences

GeoNetwork opensource is a standards based, Free and Open Source catalog application to manage spatially referenced resources through the web. It is an OSGEO Project initiated by the Food and Agricultural Organization (FAO). The purpose of this presentation is to illustrate the implementation of such a catalog in national projects in France and in Switzerland. Firstly, we will present you the Geosource project undertaken by BRGM (http://www.brgm.fr/), gathering national and local authorities, national geographic survey, public organisations, associations in order to provide a metadata catalog for french users : definition of french iso profile, support for INSPIRE metadata requirements. Finally, we will present the SwissTopo geocat II project. The purpose of the project is to develop the next generation geospatial catalog for SwissTopo on the basis of GeoNetwork opensource. This both projects underline the closely collaboration between national authorities and the Geonetwork opensource community

Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system