Simultaneous localization and map-building using active vision
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Open Access
- 7 August 2002
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 24 (7) , 865-880
- https://doi.org/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 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
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