{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/explorb-slam-active-visual-slam-exploiting","title":"ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology","arxiv_id":"2209.03693","date":"2022-09-08","proceeding":null,"authors":["Julio A. Placed","Juan J. Gómez Rodríguez","Juan D. Tardós","José A. Castellanos"],"abstract":"Deploying autonomous robots capable of exploring unknown environments has long been a topic of great relevance to the robotics community. In this work, we take a further step in that direction by presenting an open-source active visual SLAM framework that leverages the accuracy of a state-of-the-art graph-SLAM system and takes advantage of the fast utility computation that exploiting the structure of the underlying pose-graph offers. Through careful estimation of a posteriori weighted pose-graphs, D-optimal decision-making is achieved online with the objective of improving localization and mapping uncertainties as exploration occurs.","url_abs":"https://arxiv.org/abs/2209.03693v1","url_pdf":"https://arxiv.org/pdf/2209.03693v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"explorb-slam-active-visual-slam-exploiting","repo_url":"https://github.com/julioplaced/explorb-slam","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2209.03693","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}