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Simultaneous localization and map-building using active vision

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2 Author(s)
Davison, A.J. ; Dept. of Eng. Sci., Oxford Univ., UK ; Murray, D.W.

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 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

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:24 ,  Issue: 7 )