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Active control for single camera SLAM

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 t...

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Publisher copy:
10.1109/ROBOT.2006.1641988

Authors


Vidal-Calleja, T More by this author
Andrade-Cetto, J More by this author
Davison, AJ More by this author
Murray, DW More by this author
Volume:
2006
Pages:
1930-1936
Publication date:
2006
DOI:
ISSN:
1050-4729
URN:
uuid:a019caae-90bd-43c2-bb65-fbc73cac7111
Source identifiers:
109651
Local pid:
pubs:109651
ISBN-10:
0780395069
ISBN-13:
9780780395060

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