Optimal View Path Planning for Visual SLAM
Haner, Sebastian LU and Heyden, Anders LU
(2011)
17th Scandinavian Conference on Image Analysis (SCIA 2011)
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:
https://lup.lub.lu.se/record/2224270
- author
- Haner, Sebastian
LU
and Heyden, Anders
LU
- organization
- publishing date
- 2011
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Next best view planning, path optimization, SLAM
- host publication
- Lecture Notes in Computer Science
- editor
- Heyden, Anders and Kahl, Fredrik
- volume
- 6688
- pages
- 11 pages
- publisher
- Springer
- conference name
- 17th Scandinavian Conference on Image Analysis (SCIA 2011)
- conference location
- Ystad, Sweden
- conference dates
- 2011-05-23 - 2011-05-27
- external identifiers
-
- wos:000308543900035
- scopus:79957474807
- ISSN
- 0302-9743
- 1611-3349
- 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
- 2016-04-01 10:53:36
- date last changed
- 2024-01-07 03:49:58
@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 = {{0302-9743}},
keywords = {{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}},
doi = {{10.1007/978-3-642-21227-7_35}},
volume = {{6688}},
year = {{2011}},
}