Publication
Active control for single camera SLAM
Conference Article
Conference
IEEE International Conference on Robotics and Automation (ICRA)
Edition
2006
Pages
1930-1936
Doc link
http://dx.doi.org/10.1109/ROBOT.2006.1641988
File
Authors
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Vidal Calleja, Teresa Alejandra
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Davison, Andrew J.
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Andrade Cetto, Juan
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Murray, David W.
Projects associated
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.
Categories
computer vision, robots.
Scientific reference
T. Vidal-Calleja, A.J. Davison, J. Andrade-Cetto and D.W. Murray. Active control for single camera SLAM, 2006 IEEE International Conference on Robotics and Automation, 2006, Orlando, FL, USA, pp. 1930-1936, IEEE.
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