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Open Access item 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
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Appears in Collections:(IRII) Artículos

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