15 páginas, 15 figuras, 4 tablas. ; A method for evaluating, at video rate, the quality of actions for a single camera while mapping unknown indoor environments is presented. The strategy maximizes mutual information between measurements and states to help the camera avoid making ill-conditioned measurements that are appropriate to lack of depth in monocular vision systems. Our system prompts a user with the appropriate motion commands during 6-DOF visual simultaneous localization and mapping with a handheld camera. Additionally, the system has been ported to a mobile robotic platform, thus closing the control-estimation loop. To show the viability of the approach, simulations and experiments are presented for the unconstrained motion of a handheld camera and for the motion of a mobile robot with nonholonomic constraints. When combined with a path planner, the technique safely drives to a marked goal while, at the same time, producing an optimal estimated map. ; This work was supported by the Spanish Ministry of Science and Innovation under Projects UbROB (DPI 2007-61452), PAU (DPI2008-06022), and MIPRCV (Consolider-Ingenio 2010), and the EU URUS Project IST-FP6-STREP-045062. ; Peer reviewed


    Access

    Download


    Export, share and cite



    Title :

    Action Selection for Single-Camera SLAM



    Publication date :

    2010-01-01


    Remarks:

    doi:10.1109/TSMCB.2010.2043528



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    Action selection for single-camera SLAM

    Vidal Calleja, Teresa / Sanfeliu Cortés, Alberto / Andrade-Cetto, Juan | BASE | 2010

    Free access

    MonoSLAM: A SINGLE CAMERA SLAM

    Shokry, Kirellos / Alhawary, Mohammed | BASE | 2018

    Free access

    Active control for single camera SLAM

    Vidal-Calleja, Teresa A. / Davison, Andrew J. / Andrade-Cetto, Juan et al. | BASE | 2006

    Free access

    ORB-SLAM based semi-dense mapping with monocular camera

    Wang, Boshi / Wang, Haiying / Yu, Yuan et al. | IEEE | 2017


    Towards Robust Single-Shot Monocular SLAM

    Schroeder, Gregory / Hussein, Ahmed | Springer Verlag | 2024