Active monocular localization: Towards autonomous monocular exploration for multirotor MAVs

@article{Mostegel2014ActiveML,
  title={Active monocular localization: Towards autonomous monocular exploration for multirotor MAVs},
  author={Christian Mostegel and Andreas Wendel and Horst Bischof},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={3848-3855}
}
The main contribution of this paper is to bridge the gap between passive monocular SLAM and autonomous robotic systems. While passive monocular SLAM strives to reconstruct the scene and determine the current camera pose for any given camera motion, not every camera motion is equally suited for these tasks. In this work we propose methods to evaluate the quality of camera motions with respect to the generation of new useful map points and localization maintenance. In our experiments, we… CONTINUE READING
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