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Simultaneous Localization and Map-Building Using Active Vision

Andrew Davison, David W Murray

Journal Article
IEEE Transactions on Pattern Analysis and Machine Intelligence
Volume 24
Issue 7
pp.865–880
July, 2002
IEEE Computer Society
ISSN 0162-8828
DOI 10.1109/TPAMI.2002.1017615
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 long-term 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.

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