FastSLAM A Scalable Method for the Simultaneous Localization and Mapping Problem in Robotics /

• Κύριοι συγγραφείς: Montemerlo, Michael (Συγγραφέας), Thrun, Sebastian (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Berlin, Heidelberg : Springer Berlin Heidelberg, 2007.
• Σειρά: Springer Tracts in Advanced Robotics, 27
• Θέματα: Engineering.; Artificial intelligence.; Computer graphics.; Mathematical optimization.; Applied mathematics.; Engineering mathematics.; Control engineering.; Robotics.; Mechatronics.; Automation.; Robotics and Automation.; Optimization.; Appl.Mathematics/Computational Methods of Engineering.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Computer Imaging, Vision, Pattern Recognition and Graphics.

This monograph describes a new family of algorithms for the simultaneous localization and mapping problem in robotics (SLAM). SLAM addresses the problem of acquiring an environment map with a roving robot, while simultaneously localizing the robot relative to this map. This problem has received enor...

Πίνακας περιεχομένων:

• 1 Introduction
• Applications of SLAM, Joint Estimation, Posterior Estimation, The Extended Kalman Filter, Structure and Sparsity in SLAM, FastSLAM, Outline
• 2 The SLAM Problem
• Problem Definition, SLAM Posterior, SLAM as a Markov Chain, Extended Kalman Filtering, Scaling SLAM Algorithms, Robust Data Association, Comparison of FastSLAM to Existing Techniques
• 3 FastSLAM 1.0
• Particle Filtering, Factored Posterior Representation, The FastSLAM 1.0 Algorithm, FastSLAM with Unknown Data Association, Summary of the FastSLAM Algorithm, FastSLAM Extensions, Log(N) FastSLAM, Experimental Results, Summary
• 4 FastSLAM 2.0
• Sample Impoverishment, FastSLAM 2.0, FastSLAM 2.0 Convergence, Experimental Results, Grid-based FastSLAM, Summary
• 5 Dynamic Environments
• SLAM With Dynamic Landmarks, Simultaneous Localization and People Tracking, FastSLAP Implementation,Experimental Results, Summary
• 6 Conclusions
• Conclusions, Future Work
• References, Index.