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| Active Exploration of Visual SLAM Based on Comprehensive Mutual Information |
| SUN Feng-Chi,KANG Ye-Wei,HUANG Ya-Lou,LIU Guang |
| College of Software,Nankai University,Tianjin 300071 |
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Abstract The active Simultaneous Localization and Mapping(SLAM) problem based on a single camera is discussed in this paper. Regarding the defect of available research results based on mutual information that neglect costs by different motion activities, the exploration strategy based on comprehensive mutual information that consider motion costs is proposed. The costs of movements including displacement distance and rotation degree of the camera are taken into account to choose movement activities. Each activity is assigned to a certain weight according to the extent that it affects the reliability of landmark matching. Then the activity obtaining largest information gain under unit cost is selected. The experimental result shows that without affecting location precision and real time property, the SLAM of single camera based on the proposed exploration strategy can choose feasible motion activity scientifically and avoid the shortage of the exploration mode pursuing information benefits only.
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Received: 04 January 2009
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2010, Vol. 23 
