| Action selection for single-camera SLAM. | |
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MedLine Citation:
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PMID: 20350845 Owner: NLM Status: In-Process |
Abstract/OtherAbstract:
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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. |
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Authors:
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Teresa A Vidal-Calleja; Alberto Sanfeliu; Juan Andrade-Cetto |
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Publication Detail:
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Type: Journal Article; Research Support, Non-U.S. Gov't Date: 2010-03-25 |
Journal Detail:
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Title: IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society Volume: 40 ISSN: 1941-0492 ISO Abbreviation: IEEE Trans Syst Man Cybern B Cybern Publication Date: 2010 Dec |
Date Detail:
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Created Date: 2010-11-16 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 9890044 Medline TA: IEEE Trans Syst Man Cybern B Cybern Country: United States |
Other Details:
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Languages: eng Pagination: 1567-81 Citation Subset: IM |
Affiliation:
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Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 08028 Barcelona, Spain. |
Export Citation:
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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