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dc.contributor.authorVidal Calleja, Teresa
dc.contributor.authorSanfeliu Cortés, Alberto
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial
dc.date.accessioned2011-02-03T19:13:35Z
dc.date.available2011-02-03T19:13:35Z
dc.date.created2010
dc.date.issued2010
dc.identifier.citationVidal, T.; Sanfeliu, A.; Andrade-Cetto, J. Action selection for single-camera SLAM. "IEEE transactions on systems man and cybernetics", 2010, vol. 40, núm. 6, p. 1567-1581.
dc.identifier.issn0018-9472
dc.identifier.urihttp://hdl.handle.net/2117/11274
dc.description.abstractA method for evaluating, at video rate, the quality of actions for a single camera while mapping unknown indoor environments is presented. The strategy maximizes mutual information between measurements and states to help the camera avoid making ill-conditioned measurements that are appropriate to lack of depth in monocular vision systems. Our system prompts a user with the appropriate motion commands during 6-DOF visual simultaneous localization and mapping with a handheld camera. Additionally, the system has been ported to a mobile robotic platform, thus closing the control-estimation loop. To show the viability of the approach, simulations and experiments are presented for the unconstrained motion of a handheld camera and for the motion of a mobile robot with nonholonomic constraints. When combined with a path planner, the technique safely drives to a marked goal while, at the same time, producing an optimal estimated map.
dc.format.extent15 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
dc.subject.lcshComputer vision
dc.subject.otherRobots
dc.subject.otherActive vision
dc.subject.otherbearing-only simultaneous localization and mapping (SLAM)
dc.subject.otherMutual information
dc.subject.otherPath planning
dc.titleAction selection for single-camera SLAM
dc.typeArticle
dc.subject.lemacVisió per ordinador
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
dc.identifier.doi10.1109/TSMCB.2010.2043528
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision::Active vision
dc.relation.publisherversionhttp://dx.doi.org/10.1109/TSMCB.2010.2043528
dc.rights.accessOpen Access
drac.iddocument4437914
dc.description.versionPostprint (published version)
upcommons.citation.authorVidal, T.; Sanfeliu, A.; Andrade-Cetto, J.
upcommons.citation.publishedtrue
upcommons.citation.publicationNameIEEE transactions on systems man and cybernetics
upcommons.citation.volume40
upcommons.citation.number6
upcommons.citation.startingPage1567
upcommons.citation.endingPage1581
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Except where otherwise noted, content on this work is licensed under a Creative Commons license: Attribution-NonCommercial-NoDerivs 3.0 Spain