Active Pose SLAM

We present an active exploration strategy that complements Pose SLAM [1] and optimal navigation in Pose SLAM [2]. The method evaluates the utility of exploratory and place revisiting sequences and chooses the one that minimizes overall map and path entropies. The technique considers trajectories of...

Full description

Saved in:
Bibliographic Details
Main Authors: Valencia, R., Miro, J. V., Dissanayake, G., Andrade-Cetto, J.
Format: Conference Proceeding
Language:English
Subjects:
Collision avoidance
Entropy
Simultaneous localization and mapping
Trajectory
Uncertainty
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We present an active exploration strategy that complements Pose SLAM [1] and optimal navigation in Pose SLAM [2]. The method evaluates the utility of exploratory and place revisiting sequences and chooses the one that minimizes overall map and path entropies. The technique considers trajectories of similar path length taking marginal pose uncertainties into account. An advantage of the proposed strategy with respect to competing approaches is that to evaluate information gain over the map, only a very coarse prior map estimate needs to be computed. Its coarseness is independent and does not jeopardize the Pose SLAM estimate. Moreover, a replanning scheme is devised to detect significant localization improvement during path execution. The approach is tested in simulations in a common publicly available dataset comparing favorably against frontier based exploration.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2012.6385637