Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot or human-robot collaboration, localizing all agents in the same map is even necessary. However, localizing e.g. a ground robot in the map of a drone or head-mounted MR headset presents unique challenges due to viewpoint changes. This work investigates how active visual localization can be used to overcome such challenges of viewpoint changes. Specifically, we focus on the problem of selecting the optimal viewpoint at a given location. We compare existing approaches in the literature with additional proposed baselines and propose a novel data-driven approach. The result demonstrates the superior performance of the data-driven approach when compared to existing methods, both in controlled simulation experiments and real-world deployment.

通过使用SLAM技术的设备，本研究探讨了如何通过主动的视觉定位来克服视角变化的挑战，并提出了一种新颖的数据驱动方法，与现有方法相比在控制模拟实验和实际部署中展现出更高的性能。

多智能体协作的主动视觉定位：基于数据驱动方法