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Active Gaze Control for Attentional Visual SLAM
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1170-7162
2008 (English)In: 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 2008, 3690-3697 p.Conference paper (Refereed)
Abstract [en]

In this paper, we introduce an approach to active camera control for visual SLAM. Features, detected by a biologically motivated attention system, are tracked over several frames to determine stable landmarks. Matching of features to database entries enables global loop closing. The focus of this paper is the active camera control module, which supports the system with three behaviours: (i) A tracking behaviour tracks promising landmarks and prevents them from leaving the field of view, (ii) A redetection behaviour directs the camera actively to regions where landmarks are expected and thus supports loop closing, (iii) Finally, an exploration behaviour investigates regions without landmarks and enables a more uniform distribution of landmarks. Several real-world experiments show that the active camera control outperforms the passive system considerably.

Place, publisher, year, edition, pages
2008. 3690-3697 p.
, IEEE international conference on robotics and automation, ISSN 1050-4729
Keyword [en]
Computer networks, Industrial engineering, Robotics, Active cameras, International conferences, Visual SLAM
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-61498DOI: 10.1109/ROBOT.2008.4543777ISI: 000258095002155ScopusID: 2-s2.0-51649090713ISBN: 978-1-4244-1646-2OAI: diva2:479269
IEEE International Conference on Robotics and Automation, Pasadena, CA, MAY 19-23, 2008
QC 20120119Available from: 2012-01-17 Created: 2012-01-17 Last updated: 2012-01-19Bibliographically approved

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