Deploying autonomous robots capable of exploring unknown environments has long been a topic of great relevance to the robotics community. In this work, we take a further step in that direction by presenting an open-source active visual SLAM framework that leverages the accuracy of a state-of-the-art graph-SLAM system and takes advantage of the fast utility computation that exploiting the structure of the underlying pose-graph offers. We achieve fast decision making through careful estimation of a posteriori weighted pose-graphs and by employing a utility function that balances exploration and exploitation principles.


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    Titel :

    ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Tardioli, Danilo (Herausgeber:in) / Matellán, Vicente (Herausgeber:in) / Heredia, Guillermo (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Marques, Lino (Herausgeber:in) / Placed, Julio A. (Autor:in) / Rodríguez, Juan J. Gómez (Autor:in) / Tardós, Juan D. (Autor:in) / Castellanos, José A. (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2022 ; Zaragoza, Spain November 23, 2022 - November 25, 2022



    Erscheinungsdatum :

    2022-11-19


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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