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Open Access item Active control for single camera SLAM

Authors:Vidal-Calleja, Teresa A.
Davison, Andrew J.
Andrade-Cetto, J.
Murray, David W.
Keywords:Automation: Robots, Robotics, Robots, Computer vision
Issue Date:2006
Publisher:Institute of Electrical and Electronics Engineers
Citation:IEEE International Conference on Robotics and Automation: 1930-1936 (2006)
Abstract:In this paper we consider a single hand-held camera performing SLAM at video rate with generic 6DOF motion. The aim is to optimise both the localisation of the sensor and building of the feature map by computing the most appropriate control actions or movements. The actions belong to a discrete set (e.g. go forward, go left, go up, turn right, etc), and are chosen so as to maximise the mutual information gain between posterior states and measurements. Maximising the mutual information helps the camera avoid making ill-conditioned measurements appropriate to bearing-only SLAM. Moreover, orientation changes are determined by maximising the trace of the Fisher Information Matrix. In this way, we allow the camera to continue looking at those landmarks with large uncertainty, but from better posed directions. Various position and gaze control strategies are first tested in a simulated environment, and then validated in a video-rate implementation. Given that our system is capable of producing motion commands for a real-time 6DOF visual SLAM, it could be used with any type of mobile platform, without the need of other sensors.
Description:Presentado al ICRA/2006 celebrado en Orlando (EE.UU.).
Publisher version (URL):http://dx.doi.org/10.1109/ROBOT.2006.1641988
Appears in Collections:(IRII) Libros y partes de libros

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