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Beyond Point Clouds: Fisher Information Field for Active Visual Localization


Zhang, Zichao; Scaramuzza, Davide (2019). Beyond Point Clouds: Fisher Information Field for Active Visual Localization. In: 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 20 June 2019 - 24 June 2019. IEEE, 5986-5992.

Abstract

For mobile robots to localize robustly, actively considering the perception requirement at the planning stage is essential. In this paper, we propose a novel representation for active visual localization. By formulating the Fisher information and sensor visibility carefully, we are able to summarize the localization information into a discrete grid, namely the Fisher information field. The information for arbitrary poses can then be computed from the field in constant time, without the need of costly iterating all the 3D landmarks. Experimental results on simulated and real-world data show the great potential of our method in efficient active localization and perception-aware planning. To benefit related research, we release our implementation of the information field to the public.

Abstract

For mobile robots to localize robustly, actively considering the perception requirement at the planning stage is essential. In this paper, we propose a novel representation for active visual localization. By formulating the Fisher information and sensor visibility carefully, we are able to summarize the localization information into a discrete grid, namely the Fisher information field. The information for arbitrary poses can then be computed from the field in constant time, without the need of costly iterating all the 3D landmarks. Experimental results on simulated and real-world data show the great potential of our method in efficient active localization and perception-aware planning. To benefit related research, we release our implementation of the information field to the public.

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17 citations in Scopus®
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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Scopus Subject Areas:Physical Sciences > Software
Physical Sciences > Control and Systems Engineering
Physical Sciences > Artificial Intelligence
Physical Sciences > Electrical and Electronic Engineering
Scope:Discipline-based scholarship (basic research)
Language:English
Event End Date:24 June 2019
Deposited On:26 Jan 2021 10:36
Last Modified:06 Mar 2024 14:33
Publisher:IEEE
ISBN:978-1-5386-6027-0
OA Status:Green
Publisher DOI:https://doi.org/10.1109/icra.2019.8793680
Other Identification Number:merlin-id:20286
  • Content: Accepted Version