Can't take my eye off you: Attention-driven monocular obstacle detection and 3D mapping

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 816-821

  Einhorn, E ^a   Schroter Ch ^a   Gross, H M ^a  

^a ILMENAU UNIVERSITY OF TECHNOLOGY   (Germany)

Author keywords

EKF; Shape from motion; Visual attention; Visual obstacle detection; Voxel mapping

Indexed keywords

EKF; SHAPE-FROM-MOTION; VISUAL ATTENTION; VISUAL OBSTACLE DETECTION; VOXEL MAPPING;

INFORMATION THEORY; INTELLIGENT ROBOTS; MAPPING; OBSTACLE DETECTORS; VISUALIZATION;

FEATURE EXTRACTION;

EID: 78651517635     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5651741     Document Type: Conference Paper

References (13)

1. H.-M.Gross, et. al., "TOOMAS: Interactive Shopping Guide Robots in Everyday Use - Final Implementation and Experiences from Long-term Field Trials," in Proc. of IROS, 2009, pp. 2005-2012.
2. E. Einhorn, C. Schröter, and H.-M. Gross, "Monocular Scene Reconstruction for Reliable Obstacle Detection and Robot Navigation," in Proc. of the 4th ECMR, 2009, pp. 156-161.
3. P. Foggia, J. Jolion, A. Limongiello, and M. Vento, "Stereo Vision for Obstacle Detection: A Grap-Based Approach," LNCS Graph-Based Representations in Pattern Recognition, vol. 4538, pp. 37-48, 2007.
4. T. Schamm, S. Vacek, J. Schröder, J. Zöllner, and R. Dillmann, "Obstacle detection with a Photonic Mixing Device-camera in autonomous vehicles," Int. Journ. of Int. Systems Technologies and Applications, vol. 5, pp. 315-324, 2008.
5. E. Einhorn, C. Schröter, H.-J. Böhme, and H.-M. Gross, "A Hybrid Kalman Filter Based Algorithm for Real-time Visual Obstacle Detection," in Proc. of the 3rd ECMR, 2007, pp. 156-161.
6. A. Davison, I. Reid, N. Molton, and O. Stasse, "MonoSLAM: Real- Time Single Camera SLAM," IEEE Trans. on PAMI, vol. 29, no. 6, pp. 1052-1067, 2007.
7. J. Civera, A. Davison, and J. Montiel, "Inverse Depth Parametrization for Monocular SLAM," IEEE Trans. on Robotics, pp. 932-945, 2008.
8. E. Eade and T. Drummond, "Unified Loop Closing and Recovery for Real Time Monocular SLAM," in Proc. of the BMVC, 2008.
9. A. Davison, "Active Search for Real-Time Vision," in ICCV, 2005.
10. M. Chli and A. Davison, "Active Matching," in Proc. ECCV, 2008.
11. T. Vidal-Calleja, A. Davison, J. Andrade-Cetto, and D. Murray, "Active Control for Single Camera SLAM," in Proc. of IEEE Int. Conf. on Robotics and Automation, ICRA, 2006, pp. 1930-1936.
12. S. Frintrop and P. Jensfelt, "Attentional Landmarks and Active Gaze Control for Visual SLAM," in IEEE Transactions on Robotics, special Issue on Visual SLAM, vol. 24, no. 5, 2008.
13. A. Elfes, "Using occupancy grids for mobile robot perception and navigation," Computer, vol. 22, no. 6, pp. 46-57, 1989.