Simultaneous localization and map-building using active vision

Author

Davison, Andrew J. ; Murray, David W.

Author_Institution

Dept. of Eng. Sci., Oxford Univ., UK

Volume

24

Issue

7

fYear

2002

fDate

7/1/2002 12:00:00 AM

Firstpage

865

Lastpage

880

Abstract

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated simultaneous localization and map-building (SLAM) to be implemented with vision, permitting repeatable longterm localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment

Keywords

active vision; computerised navigation; mobile robots; robot vision; stereo image processing; SLAM; active vision; automatic map-maintenance; goal-directed steering; high-performance stereo head; localization; map-building; real-time experiments; uncertainty-based measurement selection; Cameras; Head; Image reconstruction; Measurement uncertainty; Mobile robots; Robot kinematics; Robot sensing systems; Robot vision systems; Simultaneous localization and mapping; Sonar navigation;

fLanguage

English

Journal_Title

Pattern Analysis and Machine Intelligence, IEEE Transactions on

Publisher

ieee

ISSN

0162-8828

Type

jour

DOI

10.1109/TPAMI.2002.1017615

Filename

1017615