Gaze Control for Active Visual SLAM via Panoramic Cost Map

doi:10.1109/TIV.2022.3174040

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Gaze Control for Active Visual SLAM via Panoramic Cost Map
	Yuwen, Xuan 2; Zhang, Hui 2; Yan, Fengjun 3; Chen, Long 1
刊名	IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
	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.
资助项目	National Key Research and Development Program of China[2018YFB1305002] ; Defense Industrial Technology Development Program
WOS关键词	SIMULTANEOUS LOCALIZATION ; PERCEPTION ; FRAMEWORK ; SELECTION ; ODOMETRY ; VISION
WOS研究方向	Computer Science ; Engineering ; Transportation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001006888500065
资助机构	National Key Research and Development Program of China ; Defense Industrial Technology Development Program
内容类型	期刊论文
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.