Imperial College London
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DrEdwardJohns

Faculty of Engineering, Department of Computing

Senior Lecturer
 
 
 
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Contact

 

e.johns Website

 
 
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Location

 

365ACE ExtensionSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Saeedi:2017:10.1109/icra.2017.7989673,
author = {Saeedi, Gharahbolagh S and Nardi, L and Johns, E and Bodin, B and Kelly, PHJ and Davison, AJ},
doi = {10.1109/icra.2017.7989673},
publisher = {IEEE},
title = {Application-oriented design space exploration for SLAM algorithms},
url = {http://dx.doi.org/10.1109/icra.2017.7989673},
year = {2017}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - 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.
AU  - Saeedi,Gharahbolagh S
AU  - Nardi,L
AU  - Johns,E
AU  - Bodin,B
AU  - Kelly,PHJ
AU  - Davison,AJ
DO  - 10.1109/icra.2017.7989673
PB  - IEEE
PY  - 2017///
TI  - Application-oriented design space exploration for SLAM algorithms
UR  - http://dx.doi.org/10.1109/icra.2017.7989673
UR  - http://hdl.handle.net/10044/1/44037
ER  -
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