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Optimal View Path Planning for Visual SLAM

Haner, Sebastian LU and Heyden, Anders LU (2011) 17th Scandinavian Conference on Image Analysis (SCIA 2011) In Lecture Notes in Computer Science 6688. p.370-380
Abstract
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.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Next best view planning, path optimization, SLAM
in
Lecture Notes in Computer Science
editor
Heyden, Anders; Kahl, Fredrik; and
volume
6688
pages
11 pages
publisher
Springer
conference name
17th Scandinavian Conference on Image Analysis (SCIA 2011)
external identifiers
  • wos:000308543900035
  • scopus:79957474807
ISSN
1611-3349
0302-9743
ISBN
978-3-642-21227-7 (online)
978-3-642-21226-0 (print)
DOI
10.1007/978-3-642-21227-7_35
language
English
LU publication?
yes
id
af598c1d-144e-4a17-8775-d09cddfbb0f0 (old id 2224270)
date added to LUP
2011-12-29 16:37:12
date last changed
2017-06-11 03:18:38
@inproceedings{af598c1d-144e-4a17-8775-d09cddfbb0f0,
  abstract     = {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.},
  author       = {Haner, Sebastian and Heyden, Anders},
  booktitle    = {Lecture Notes in Computer Science},
  editor       = {Heyden, Anders and Kahl, Fredrik},
  isbn         = {978-3-642-21227-7 (online)},
  issn         = {1611-3349},
  keyword      = {Next best view planning,path optimization,SLAM},
  language     = {eng},
  pages        = {370--380},
  publisher    = {Springer},
  title        = {Optimal View Path Planning for Visual SLAM},
  url          = {http://dx.doi.org/10.1007/978-3-642-21227-7_35},
  volume       = {6688},
  year         = {2011},
}