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Simultaneous robot localization and mapping based on a visual attention system
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
2007 (English)In: Attention in Cognitive Systems: Theories and Systems from an Interdisciplinary Viewpoint, 2007, 417-430 p.Conference paper (Refereed)
Abstract [en]

Visual attention regions are useful for many applications in the field of computer vision and robotics. Here, we introduce an application to simultaneous robot localization and mapping. A biologically motivated attention system finds regions of interest which serve as visual landmarks for the robot. The regions are tracked and matched over consecutive frames to build stable landmarks and to estimate the 3D position of the landmarks in the environment. Matching of current landmarks to database entries enables loop closing and global localization. Additionally, the system is equipped with an active camera control, which supports the system with a tracking, a re-detection, and an exploration behaviour. We present experiments which show the applicability of the system in a real-world scenario. A comparison between the system operating in active and in passive mode shows the advantage of active camera control: we achieve a better distribution of landmarks as well as a faster and more reliable loop closing.

Place, publisher, year, edition, pages
2007. 417-430 p.
, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), ISSN 0302-9743 ; 4840
Keyword [en]
Mapping, Robots, Three dimensional computer graphics, Vision
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-155271ISI: 000253267500027ScopusID: 2-s2.0-38549170402ISBN: 3540773428ISBN: 978-3-540-77342-9OAI: diva2:761043
4th International Workshop on Attention in Cognitive Systems, WAPCV 2007; Hyderabad; India; 8 January 2007 through 8 January 2007

QC 20141105

Available from: 2014-11-05 Created: 2014-11-04 Last updated: 2014-11-05Bibliographically approved

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