Simultaneous localization and map-building using active vision
File(s)
Published version
Author(s)
Davison, A J
Murray, D W
Type
Journal Article
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.
Version
Published version
Date Issued
2002-07
Citation
IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002, 7, 24, pp.865-880
ISSN
0162-8828
Publisher
IEEE Computer Society
Start Page
865
End Page
880
Journal / Book Title
IEEE Transactions on Pattern Analysis and Machine Intelligence
Volume
24
Copyright Statement
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Identifier
http://pubs.doc.ic.ac.uk/slam-active-vision
Source Volume Number
24
Edition
7