| Title | Optimal View Path Planning for Visual SLAM |
| Authors | Sebastian Haner, Anders Heyden |
| Alternative Location | http://dx.doi.org/10.1007/9..., Restricted Access |
| Publication | Lecture Notes in Computer Science |
| Year | 2011 |
| Volume | 6688 |
| Pages | 370 - 380 |
| Document type | Conference paper |
| Conference name | 17th Scandinavian Conference on Image Analysis (SCIA 2011) |
| Conference Date | 2011-05-23/2011-05-27 |
| Conference Location | Ystad, Sweden |
| Status | Published |
| Quality controlled | Yes |
| Language | eng |
| Publisher | Springer |
| Abstract English | In experimental design and 3D reconstruction it is desirable to minimize the number of observations required to reach a prescribed estimation accuracy. Many approaches in the literature attempt to find the next best view from which to measure, and iterate this procedure. This paper discusses a continuous optimization method for finding a whole set of future imaging locations which minimize the reconstruction error of observed geometry along with the distance traveled by the camera between these locations. A computationally efficient iterative algorithm targeted toward application within real-time SLAM systems is presented and tested on simulated data. |
| Keywords | Next best view planning, path optimization, SLAM, |
| ISBN/ISSN/Other | ISSN: 1611-3349 (online) ISBN: 978-3-642-21226-0 (print) |
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