English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/30304
Share/Impact:
Statistics
logo share SHARE   Add this article to your Mendeley library MendeleyBASE
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar a otros formatos:

Title

Autonomous single camera exploration

AuthorsVidal-Calleja, Teresa A. ; Sanfeliu, Alberto ; Andrade-Cetto, Juan
KeywordsBearing-only SLAM
Exploration
Computer vision
Robots
Robotics
Issue Date2006
PublisherUniversidad Politécnica de Cataluña
Citation2a Jornada de Recerca en Automàtica, Visió i Robòtica: 121-127 (2006)
AbstractIn this paper we present an active exploration strategy for a mobile robot navigating in 3D. The aim is to control a moving robot that autonomously builds a visual feature map while at the same time optimises its localisation in this map. The technique chooses the most appropriate commands maximising the information gain between prior states and measurements, while performing 6DOF bearing only SLAM at video rate. Maximising the mutual information helps the vehicle avoid ill-conditioned measurements appropriate to bearing-only SLAM. To validate the approach, extensive simulations over rugged terrain have been performed. Moreover, experimental results are shown for the technique being tested with a synchro-drive mobile robot platform.
DescriptionPresentado a la 2ª Jornada de Recerca en Automàtica, Visió i Robòtica (AVR/2006) celebrada en Barcelona (España).
URIhttp://hdl.handle.net/10261/30304
Appears in Collections:(IRII) Comunicaciones congresos
Files in This Item:
File Description SizeFormat 
Autonomous single camera.pdf620,12 kBAdobe PDFThumbnail
View/Open
Show full item record
Review this work
 


WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.