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Title

Action Selection for Single-Camera SLAM

AuthorsVidal-Calleja, Teresa A. ; Sanfeliu, Alberto ; Andrade-Cetto, Juan
Issue Date2010
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Transactions on Systems Man and Cybernetics Part B 40(6): 1567-1581 (2010)
AbstractA 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.
Description15 páginas, 15 figuras, 4 tablas.
Publisher version (URL)http://dx.doi.org/10.1109/TSMCB.2010.2043528
URIhttp://hdl.handle.net/10261/38432
DOI10.1109/TSMCB.2010.2043528
ISSN1083-4419
Appears in Collections:(IRII) Artículos
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