rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Environment Learning for Indoor Mobile Robots
    sub title: A Stochastic State Estimation Approach to Simultaneous Localization and Map Building
  name:
    name part: Andrade-Cetto, Juan.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Sanfeliu, Alberto.
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: gw
    date issued: 2006
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XVI, 136 p. online resource.
  abstract: This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots, such as estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM. The authors show that the typical approach to SLAM using a Kalman filter results in marginal filter stability, making the final reconstruction estimates dependant on the initial vehicle estimates. However, by anchoring the map to a fixed landmark in the scene, they are able to attain full observability in SLAM, with reduced covariance estimates. This result earned the first author the EURON Georges Giralt Best PhD Award in its fourth edition, and has prompted the SLAM community to think in new ways to approach the mapping problem. For example, by creating local maps anchored on a landmark, or on the robot initial estimate itself, and then using geometric relations to fuse local maps globally. This monograph is appropriate as a text for an introductory estimation-theoretic approach to the SLAM problem, and as a reference book for people who work in mobile robotics research in general. Juan Andrade Cetto holds a BSEE degree from CETYS University, 1993; an MSEE degree from Purdue University, 1995; and a doctorate from the Technical University of Catalonia, 2003. He is currently with the Institut the Robòtica i Informàtica Industrial, CSIC-UPC. Alberto Sanfeliu received the BSEE and PhD degrees from the Technical University of Catalonia in 1978 and 1982, respectively. He joined the UPC faculty in 1981, and is since 1984, Professor with the Systems Engineering Department, for which he was appointed Head in 2005. Dr. Sanfeliu is also affiliated to the Institut the Robòtica i Informàtica Industrial, CSIC-UPC. His current research areas are Pattern Recognition, Computer Vi…
  table of contents: Simultaneous Localization and Map Building -- Marginal Filter Stability -- Suboptimal Filter Stability -- Unscented Transformation of Vehicle States -- Simultaneous Localization, Control and Mapping -- A: The Kalman Filter -- B: Concepts from Linear Algebra -- C: Sigma Points.
  note: by Juan Andrade-Cetto, Alberto Sanfeliu.
  subject:
    topic: Engineering
  subject:
    topic: Artificial intelligence
  subject:
    topic: Computer graphics
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Mechatronics
  subject:
    topic: Engineering
  subject:
    topic: Control
  subject:
    topic: Control, Robotics, Mechatronics
  subject:
    topic: Artificial Intelligence (incl. Robotics)
  subject:
    topic: Computer Imaging, Vision, Pattern Recognition and Graphics
  classification: TJ212-225
  classification: 629.8
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Springer Tracts in Advanced Robotics, 23
  identifier: 9783540328483
  identifier: http://dx.doi.org/10.1007/11418382
  record info:
    record creation date: 100806
    record change date: 20151204160219.0
    record identifier: 978-3-540-32848-3