Deploying autonomous robots capable of exploring unknown environments has long been a topic of great relevance to the robotics community. In this work, we take a further step in that direction by presenting an open-source active visual SLAM framework that leverages the accuracy of a state-of-the-art graph-SLAM system and takes advantage of the fast utility computation that exploiting the structure of the underlying pose-graph offers. We achieve fast decision making through careful estimation of a posteriori weighted pose-graphs and by employing a utility function that balances exploration and exploitation principles.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Iberian Robotics conference ; 2022 ; Zaragoza, Spain November 23, 2022 - November 25, 2022



    Publication date :

    2022-11-19


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Real-Time Pose Graph SLAM based on Radar

    Holder, Martin / Hellwig, Sven / Winner, Hermann | IEEE | 2019


    REAL-TIME POSE GRAPH SLAM BASED ON RADAR

    Holder, Martin / Hellwig, Sven / Winner, Hermann | British Library Conference Proceedings | 2019


    Graph Matching Pose SLAM based on Road Network Information

    He, Lei / Yang, Ming / Li, Hao et al. | IEEE | 2019


    Path planning with pose SLAM

    Valencia Carreño, Rafael / Andrade-Cetto, Juan / Porta Pleite, Josep Maria | BASE | 2010

    Free access

    GRAPH MATCHING POSE SLAM BASED ON ROAD NETWORK INFORMATION

    He, Lei / Yang, Ming / Li, Hao et al. | British Library Conference Proceedings | 2019