FastSLAM : a scalable method for the simultaneous localization and mapping problem in robotics
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...
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| Glavni autori: | , |
|---|---|
| Format: | Livre numérique |
| Jezik: | Anglais |
| Izdano: |
Berlin, Heidelberg :
Springer Berlin Heidelberg
[20..].
Cham : Springer Nature |
| Izdanje: | 1st ed. 2007. |
| Serija: | Springer Tracts in Advanced Robotics
27 |
| Online pristup: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Bilješka: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • FastSLAM, a scalable method for the simultaneous localization and mapping problem in robotics, Michael Montemerlo, Sebastian Thrun, 2007, Berlin, Springer, 1 volume (119 pages), Springer tracts in advanced robotics, 3-540-46399-2 |
Sadržaj:
- 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