Publication
Autonomous single camera exploration
Conference Article
Conference
Jornada de Recerca en Automàtica, Visió i Robòtica (AVR)
Edition
2a
Pages
121-127
Doc link
http://ccuc.cbuc.cat/search~S23*cat/tAVR%2706/tavr06/-3,-1,0,B/browse
File
Abstract
In this paper we present an active exploration strategy for a mobile robot navigating in 3D. The aim is to control a moving robot that autonomously builds a visual feature map while at the same time optimises its localisation in this map. The technique chooses the most appropriate commands maximising the information gain between prior states and measurements, while performing 6DOF bearing only SLAM at video rate. Maximising the mutual information helps the vehicle avoid ill-conditioned measurements appropriate to bearing-only SLAM. To validate the approach, extensive simulations over rugged terrain have been performed. Moreover, experimental results are shown for the technique being tested with a synchro-drive mobile robot platform.
Categories
computer vision, robots.
Author keywords
bearing-only SLAM, exploration
Scientific reference
T. Vidal-Calleja, A. Sanfeliu and J. Andrade-Cetto. Autonomous single camera exploration, 2a Jornada de Recerca en Automàtica, Visió i Robòtica, 2006, Barcelona, Espanya, pp. 121-127, UPC.
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