AbstractÐAn 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 longterm 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.
Davison et al. REF published one of the first general active vision systems for autonomous localization, addressing issues such as uncertainty-based measurement selection, automatic map-maintenance and goal-directed steering.
Simultaneous localization and map-building using active vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Computer Science