Presentado al ICRA/2006 celebrado en Orlando (EE.UU.). ; 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. ; This work was supported by projects: 'Integration of robust perception, learning, and navigation systems in mobile robotics' (J-0929), 'Perception, action & cognition through learning of object-action complexes.' (4915). ; This research is supported by the Spanish Ministry of Education and Science under projects DPI 2004-5414, TIC 2003-09291, and the EU PACO- PLUS project FP6-2004-IST-4-27657 to TVC and JAC, and by the UK Engineering and Physical Research Council under an Advanced Research Fellowship Grant GR/N03266 to AJD, and by Grant GR/S97774 to DWM. ; Peer Reviewed


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    Titel :

    Active control for single camera SLAM



    Erscheinungsdatum :

    2006-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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