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Issue No.07 - July (2002 vol.24)
pp: 865-880
ABSTRACT
<p>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.</p>
INDEX TERMS
Active vision, simultaneous localization and map-building, mobile robots.
CITATION
Andrew J. Davison, David W. Murray, "Simultaneous Localization and Map-Building Using Active Vision", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol.24, no. 7, pp. 865-880, July 2002, doi:10.1109/TPAMI.2002.1017615
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