Simultaneous localization and map-building using active vision

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Title: Simultaneous localization and map-building using active vision
Authors: Davison, A J
Murray, D W
Item 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.
Content Version: Published version
Issue Date: 1-Jul-2002
Citation: IEEE Transactions on Pattern Analysis and Machine Intelligence Vol.( 24 ) No.( 7 ) pp 865 - 880
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ISSN: 0162-8828
Start Page: 865
End Page: 880
Copyright Statement: © 2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
Volume: 24
Appears in Collections:Visual Information Processing

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