Edinburgh Research Explorer

Application-oriented Design Space Exploration for SLAM Algorithms

Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Sajad Saeedi
  • Luigi Nardi
  • Edward Johns
  • Bruno Bodin
  • Paul H. J. Kelly
  • Andrew J Davison

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Access status

Open

Documents

http://ieeexplore.ieee.org/document/7989673/
Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages5716-5723
Number of pages8
ISBN (Electronic)978-1-5090-4633-1
DOIs
StatePublished - 24 Jul 2017

Abstract

In visual SLAM, there are many software and hardware parameters, such as algorithmic thresholds and GPU frequency, that need to be tuned; however, this tuning should also take into account the structure and motion of the camera. In this paper, we determine the complexity of the structure and motion with a few parameters calculated using information theory. Depending on this complexity and the desired performance metrics, suitable parameters are explored and determined. Additionally, based on the proposed structure and motion parameters, several applications are presented, including a novel active SLAM approach which guides the camera in such a way that the SLAM algorithm achieves the desired performance metrics. Real-world and simulated experimental results demonstrate the effectiveness of the proposed design space and its applications.

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