Gaze Control for Active Visual SLAM via Panoramic Cost Map
文献类型：期刊论文
| 作者 | Yuwen, Xuan2; Zhang, Hui2 ; Yan, Fengjun3; Chen, Long1
|
| 刊名 | IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
 |
| 出版日期 | 2023-02-01 |
| 卷号 | 8期号:2页码:1813-1825 |
| 关键词 | Cameras Costs Visualization Simultaneous localization and mapping Task analysis Phase change materials Intelligent vehicles Visual SLAM active panoramic gaze control |
| ISSN号 | 2379-8858 |
| DOI | 10.1109/TIV.2022.3174040 |
| 通讯作者 | Zhang, Hui(huizhang285@gmail.com) |
| 英文摘要 | In this work, we aim to improve the positioning accuracy of the visual simultaneous localization and mapping (VSLAM) through actively controlling the gaze of the positioning camera mounted on an autonomous guided vehicle (AGV). A panoramic cost map (PCM)-based gaze control method (PGC) is proposed for the active VSLAM. Different from traditional method, a panoramic camera is added beside the positioning camera to aid the gaze control of the positioning camera. The panoramic camera is used to perceive the environment and evaluate the potential performance of each available orientation of the positioning camera. The evaluation of all the available orientations will make up a panoramic cost map. The cost map is then used to help the gaze control method to select an optimal target gaze for the positioning camera. In the calculation of the panoramic cost map, the effective factors of the VSLAM, such as feature points and moving objects, are taken into consideration. In the gaze control method, we also take into consideration of errors of the system, the time delay of the proposed method, and the velocity of the AGV. The test results in different scenes with different VSLAM algorithms show that the proposed method can improve the positioning accuracy of all the tested VSLAM algorithms compared to fixed camera gaze. |
| WOS关键词 | SIMULTANEOUS LOCALIZATION ; PERCEPTION ; FRAMEWORK ; SELECTION ; ODOMETRY ; VISION |
| 资助项目 | National Key Research and Development Program of China[2018YFB1305002] ; Defense Industrial Technology Development Program |
| WOS研究方向 | Computer Science ; Engineering ; Transportation |
| 语种 | 英语 |
| WOS记录号 | WOS:001006888500065 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Key Research and Development Program of China ; Defense Industrial Technology Development Program |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53717]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Zhang, Hui |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Beihang Univ, Sch Transportat Sci & Engn, Beijing 102206, Peoples R China 3.Mc Master Univ, Dept Mech Engn, Hamilton, ON L8S4L8, Canada |
| 推荐引用方式 GB/T 7714 | Yuwen, Xuan,Zhang, Hui,Yan, Fengjun,et al. Gaze Control for Active Visual SLAM via Panoramic Cost Map[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2023,8(2):1813-1825. |
| APA | Yuwen, Xuan,Zhang, Hui,Yan, Fengjun,&Chen, Long.(2023).Gaze Control for Active Visual SLAM via Panoramic Cost Map.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,8(2),1813-1825. |
| MLA | Yuwen, Xuan,et al."Gaze Control for Active Visual SLAM via Panoramic Cost Map".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 8.2(2023):1813-1825. |
入库方式： OAI收割
来源：自动化研究所
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