Optimal View Path Planning for Visual SLAM

Sebastian Haner, Anders Heyden

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

8 Citations (SciVal)

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.
Original languageEnglish
Title of host publicationLecture Notes in Computer Science
EditorsAnders Heyden, Fredrik Kahl
PublisherSpringer
Pages370-380
Number of pages11
Volume6688
ISBN (Print)978-3-642-21227-7 (online), 978-3-642-21226-0 (print)
DOIs
Publication statusPublished - 2011
Event17th Scandinavian Conference on Image Analysis (SCIA 2011) - Ystad, Sweden
Duration: 2011 May 232011 May 27

Publication series

Name
Volume6688
ISSN (Print)1611-3349
ISSN (Electronic)0302-9743

Conference

Conference17th Scandinavian Conference on Image Analysis (SCIA 2011)
Country/TerritorySweden
CityYstad
Period2011/05/232011/05/27

Subject classification (UKÄ)

  • Computer Vision and Robotics (Autonomous Systems)
  • Mathematics

Keywords

  • Next best view planning
  • path optimization
  • SLAM

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