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Active control for single camera SLAM

Teresa Vidal-Calleja, Andrew Davison, Juan Andrade-Cetto, David W Murray

Conference or Workshop Paper
IEEE International Conference on Robotics and Automation
May, 2006

In this paper we consider a single hand-held camera perform- ing

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 appro- priate 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

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.

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