Robust Active Visual SLAM System Based on Bionic Eyes

Visual simultaneously localization and mapping (SLAM) systems obtain accurate estimation of the camera motion and the 3D map of the environment. Although the performance of SLAM systems is very impressive in many common scenarios, the tracking failure is still a very challenging issue, which always exists in the low textured environment and the rapid camera motion situation. In this paper, we proposed the first active bionic eyes SLAM system that leverages saccade movement of human eyes. In order to find more features points, we proposed an autonomous control strategy of the bionic eyes, which is mainly inspired by the peripheral and central visual of human eyes. Experimental results support that compared to fixed stereo cameras, our active bionic eyes SLAM system gains more robustness and avoids the tracking failure problem when facing the low textured environment.