Saeedi Gharahbolagh, SSSaeedi GharahbolaghNardi, LLNardiJohns, EEJohnsBodin, BBBodinKelly, PHJPHJKellyDavison, AJAJDavison2017-02-072017-07-24IEEE International Conference on Robotics and Automation (ICRA), 2017http://hdl.handle.net/10044/1/44037In visual SLAM, there are many software and hardware parameters, such as algorithmic thresholds and GPU frequency, that need to be tuned; however, this tuning should also take into account the structure and motion of the camera. In this paper, we determine the complexity of the structure and motion with a few parameters calculated using information theory. Depending on this complexity and the desired performance metrics, suitable parameters are explored and determined. Additionally, based on the proposed structure and motion parameters, several applications are presented, including a novel active SLAM approach which guides the camera in such a way that the SLAM algorithm achieves the desired performance metrics. Real-world and simulated experimental results demonstrate the effectiveness of the proposed design space and its applications.© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Conference Paperhttps://www.dx.doi.org/10.1109/icra.2017.7989673PO: ERZ1820653EP/I012036/1