Active gaze control for attentional visual SLAM

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2008, Pages 3690-3697

  Frintrop, Simone ^a   Jensfelt, Patric ^b  

^a UNIVERSITY OF BONN   (Germany)

^b ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER NETWORKS; INDUSTRIAL ENGINEERING; ROBOTICS;

ACTIVE CAMERAS; INTERNATIONAL CONFERENCES; VISUAL SLAM;

CAMERAS;

EID: 51649090713     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2008.4543777     Document Type: Conference Paper

References (32)

1. M. W. M. G. Dissanayake, P. Newman, S. Clark, H. F. Durrant-Whyte, and M. Csorba, "A solution to the simultaneous localization and map building (SLAM) problem," IEEE Trans. Robot. Automat., vol. 17, no. 3, pp. 229-241, 2001.
2. U. Frese, P. Larsson, and T. Duckett, "A multigrid algorithm for simultaneous localization and mapping," IEEE Trans. Robot., vol. 21, no. 2, pp. 1-12, 2005.
3. S. Thrun, Y. Liu, D. Koller, A. Ng, Y. Ghahramani, and H. Durrant-Whyte, "Simultaneous localization and mapping with sparse extended information filters," IJRR, vol. 23, no. 7-8, pp. 693-716, 2004.
4. L. Goncavles, E. di Bernardo, D. Benson, M. Svedman, J. Ostrovski, N. Karlsson, and P. Pirjanian, "A visual front-end for simultaneous localization and mapping," in Proc. of ICRA, apr 2005, pp. 44-49.
5. P. Jensfelt, D. Kragic, J. Folkesson, and M. Björkman, "A framework for vision based bearing only 3D SLAM," in Proc. of ICRA, 2006.
6. S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz, "Probabilistic algorithms and the interactive museum tourguide robot minerva," Int'l J. of Rob. Research, vol. 19, no. 11, 2000.
7. T. Vidal-Calleja, A. J. Davison, J. Andrade-Cetto, and D. W. Murray, "Active control for single camera SLAM," in Proc. of ICRA, 2006.
8. K. Ho and P. Newman, "Detecting loop closure with scene sequences," International Journal of Computer Vision and International Journal of Robotics Research. Joint issue on computer vision and robotics, 2007.
9. P. Zhang, E. E. Milios, and J. Gu, "Underwater robot localization using artificial visual landmarks," in Proc. of IEEE Int'l Conf. on Robotics and Biomimetics, Shenyang, China, Aug. 2004, pp. 705-710.
10. P. Newman and K. Ho, "SLAM-loop closing with visually salient features," in Proc. of ICRA'05, 2005, pp. 644-651.
11. S. Frintrop, P. Jensfelt, and H. Christensen, "Simultaneous robot localization and mapping based on a visual attention system," in Attention in Cognitive Systems, ser. LNAI. Springer, 2007, vol. 4840.
12. R. Bajcsy, "Active perception vs. passive perception," in Proc. 3rd Workshop on Computer Vision: Representation and Control. Washington, DC.: IEEE Press, October 1985, pp. 55-59.
13. Y. Aloimonos, I. Weiss, and A. Bandopadhay, "Active vision," Int'l J. of Computer Vision (IJCV), vol. 1, no. 4, pp. 333-356, 1988.
14. R. Bajcsy, "Active perception," Proc. of IEEE, vol. 76, no. 8, 1988.
15. B. Grocholsky, H. F. Durrant-Whyte, and P. Gibbens, "An information-theoretic approach to decentralized control of multiple autonomous flight vehicles," in Sensor Fusion and Decentralized Control in Robotic Systems III,, Boston, Nov 2000.
16. J. Maver and R. Bajcsy, "Occlusions as a guide for planning the next view," IEEE Trans. PAMI, vol. 15, no. 5, pp. 417-433, 1993.
17. R. Sim and J. J. Little, "Autonomous vision-based exploration and mapping using hybrid maps and rao-blackwellised particle filters," in Proc. of IROS, 2006.
18. B. Yamauchi, "A frontier-based approach for autonomous exploration," in Int'l Symp. on Comp. Intelligence in Rob. and Automation, 1997.
19. A. Makarenko, S. Williams, F. Bourgault, and H. Durrant-Whyte, "An experiment in integrated exploration," in Proc. of IROS'02, 2002.
20. A. Davison and D. Murray, "Mobile robot localisation using active vision," in Proc. of ECCV, May 1998.
21. _, "Simultaneous localisation and map-building using active vision," IEEE Trans. PAMI, 2002.
22. L. A. Clemente, A. J. Davison, I. D. Reid, J. Neira, and J. D. Tardos, "Mapping large loops with a single hand-held camera," in Proc. of Robotics: Science and Systems (RSS), 2007.
23. S. Frintrop, "VOCUS: A visual attention system for object detection and goal-directed search," Ph.D. dissertation, Germany, 2006, lNAI, Vol. 3899.
24. S. Frintrop, G. Backer, and E. Rome, "Goal-directed search with a topdown modulated computational attention system," in Proc. of DAGM, ser. LNCS. Springer, 2005, pp. 117-124.
25. A. M. Treisman and G. Gelade, "A feature integration theory of attention," Cognitive Psychology, vol. 12, pp. 97-136, 1980.
26. M. Corbetta and G. L. Shulman, "Control of goal-directed and stimulus-driven attention in the brain," Nature Reviews, vol. 3, no. 3, pp. 201-215, 2002.
27. S. Frintrop and A. B. Cremers, "Top-down attention supports visual loop closing," in accepted for Proc. of European Conference on Mobile Robotics (ECMR 2005), 2007.
28. D. G. Lowe, "Object recognition from local scale-invariant features," in Proc. of ICCV, 1999, pp. 1150-57.
29. K. Mikolajczyk and C. Schmid, "Indexing based on scale invariant interest points," in Proc. of ICCV, 2001, pp. 525-531.
30. S. Frintrop and P. Jensfelt, "Attentional landmarks and active gaze control for visual SLAM," submitted, 2008.
31. P. Newman and K. Ho, "SLAM-loop closing with visually salient features," in Proc. of the International Conference on Robotics and Automation, (ICRA 2005), Barcelona, Spain, April 2005.
32. S. Frintrop, M. Klodt, and E. Rome, "A real-time visual attention system using integral images," in Proc. of ICVS, 2007.