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

Download the digital copy of the doc pdf document

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, Estats Units d'Amèrica, pp. 1930-1936, IEEE.