ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology

Deploying autonomous robots capable of exploring unknown environments has long been a topic great relevance to the robotics community. In this work, we take further step in that direction by presenting an open-source active visual SLAM framework leverages accuracy state-of-the-art graph-SLAM system and takes advantage fast utility computation exploiting structure underlying pose-graph offers. We achieve decision making through careful estimation posteriori weighted pose-graphs employing function balances exploration exploitation principles.