Simultaneous localization and map-building using active vision

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated simultaneous localization and map-building (SLAM) to be implemented with vision, permitting repeatable longterm localization using only naturally occurring, automa...

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Bibliographic Details
Published inIEEE transactions on pattern analysis and machine intelligence Vol. 24; no. 7; pp. 865 - 880
Main Authors Davison, A.J., Murray, D.W.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.07.2002
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Cameras
Detection
Head
Image reconstruction
Intelligence
Localization
Measurement uncertainty
Mobile robots
Pattern analysis
Position (location)
Real time
Robot kinematics
Robot sensing systems
Robot vision systems
Simultaneous localization and mapping
Sonar navigation
Steering
Vision
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Summary:An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated simultaneous localization and map-building (SLAM) to be implemented with vision, permitting repeatable longterm localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
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ISSN:0162-8828
1939-3539
DOI:10.1109/TPAMI.2002.1017615