Real-Time Active Vision by Entropy Minimization Applied to Localization

  • Stefan Czarnetzki
  • Sören Kerner
  • Michael Kruse
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6556)


This paper presents an active vision approach to enhance mobile robot localization. A particle filter localization is extended with a module to find active vision decisions that are optimal based on the current localization and its uncertainty. Optimality is expressed as a criterion of entropy minimization. Further approximations are introduced to enable real-time computation. Both the usefulness of the presented approach in a RoboCup scenario and the performance and quality of the approximations are evaluated in different static and dynamic situations.


Humanoid Robot Belief State Active Vision Sonar Sensor Side Line 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Stefan Czarnetzki
    • 1
  • Sören Kerner
    • 1
  • Michael Kruse
    • 1
  1. 1.Robotics Research Institute, Section Information TechnologyTU Dortmund UniversityDortmundGermany

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