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.. Principe-général-de-l-'approche-proposée, 137 7.3 Schéma global de la solution proposée, p.138

.. Limites-de-ce-type-de-méthodes, 38 2.1.3.1 Localisation non géo-référencée

.. Localisation-basée-vision-avec-ajout-d-'informations-additionnelles, 39 2.2.2 Exploitation de la connaissance a priori de l'environnement, p.43

S. , G. Contraindre-la-trajectoire........-mesure, and G. , 59 3.3.1 Établissement de la contrainte aux données GPS : association image clé, p.59

.. Raffinement-de-la-base-d-'amers-géo-référencée-initiale, 120 6.3.2.1 Recalage dans le plan, p.121

.. Évaluation-expérimentale, 122 6.4.1 Séquences de tests utilisées 122 6.4.2 Évaluation de l'ensemble de notre solution pour la création d'une base d'amers géo-référencés, p.124

. Estimation-de-l-'erreur-dans-le-plan-de-la-fusion, G. Le, and M. Le, 138 7.2.2.1 Estimation de l'erreur dans le plan de la fusion dans le cas simple, p.138

.. Évaluation-expérimentale, 160 8.6.1 Comparaison de la précision de la navigation en zone disposant d'une base d'amers avec la navigation en zone dépourvue d'une base d'amers 160

.. Et-la-contrainte-du and M. , contrainte dure 177 A.2.1 Fonction de coût avec la contrainte des modèles 3D bâtiments . . . . . 177 A.2.2 Fonction de coût avec la contrainte du MET, p.180

.. Ajustement-de-faisceaux-basé-sur-une-fonction-de-coût-avec-une-contrainte-d-'inégalité, 182 A.3.1 Fonction de coût contrainte aux données, p.186