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Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/38432
Title: Action Selection for Single-Camera SLAM
Authors: Vidal-Calleja, Teresa A.; Sanfeliu, Alberto; Andrade-Cetto, J.
Issue Date: 2010
Publisher: Institute of Electrical and Electronics Engineers
Citation: IEEE Transactions on Systems Man and Cybernetics Part B 40(6): 1567-1581 (2010)
Abstract: A method for evaluating, at video rate, the quality of actions for a single camera while mapping unknown indoor environments is presented. The strategy maximizes mutual information between measurements and states to help the camera avoid making ill-conditioned measurements that are appropriate to lack of depth in monocular vision systems. Our system prompts a user with the appropriate motion commands during 6-DOF visual simultaneous localization and mapping with a handheld camera. Additionally, the system has been ported to a mobile robotic platform, thus closing the control-estimation loop. To show the viability of the approach, simulations and experiments are presented for the unconstrained motion of a handheld camera and for the motion of a mobile robot with nonholonomic constraints. When combined with a path planner, the technique safely drives to a marked goal while, at the same time, producing an optimal estimated map.
Description: 15 páginas, 15 figuras, 4 tablas.
Publisher version (URL): http://dx.doi.org/10.1109/TSMCB.2010.2043528
URI: http://hdl.handle.net/10261/38432
ISSN: 1083-4419
DOI: 10.1109/TSMCB.2010.2043528
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