Random finite sets for robot mapping and SLAM : new concepts in autonomous robotic map representations
Simultaneous Localisation and Map (SLAM) building algorithms, which rely on random vectors to represent sensor measurements and feature maps are known to be extremely fragile in the presence of feature detection and data association uncertainty. Therefore new concepts for autonomous map representati...
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| Hlavní autoři: | , , , |
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| Médium: | Livre numérique |
| Jazyk: | Anglais |
| Vydáno: |
Berlin, Heidelberg :
Springer Berlin Heidelberg
[20..].
Cham : Springer Nature |
| Vydání: | 1st ed. 2011. |
| Edice: | Springer Tracts in Advanced Robotics
72 |
| On-line přístup: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
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| Edition sous un autre format: | • Random Finite Sets for Robot Mapping and SLAM, Texte imprimé, 9783642213892 • Random finite sets for robot mapping and SLAM, new concepts in autonomous robotic map representations, John Mullane, Ba-Ngu Vo, Martin Adams... [et al.], 1st edition 2011, 2013, Berlin, Springer, 1 vol. (XXIV-146 p.), Springer tracts in advanced robotics, 978-3-642-26831-1 • Random Finite Sets for Robot Mapping & SLAM, Texte imprimé, 9783642213892 • Random Finite Sets for Robot Mapping & SLAM, Texte imprimé, 9783642213915 |
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| 100 | 1 | |a Mullane, John, |d 19..- | |
| 245 | 1 | 0 | |a Random finite sets for robot mapping and SLAM : |b new concepts in autonomous robotic map representations |c by John Mullane, Ba-Ngu Vo, Martin Adams, Ba-Tuong Vo. |
| 250 | |a 1st ed. 2011. | ||
| 260 | |a Berlin, Heidelberg : |b Springer Berlin Heidelberg. | ||
| 260 | |a Cham : |b Springer Nature, |c [20..]. | ||
| 490 | 0 | |a Springer Tracts in Advanced Robotics |v 72 |x 1610-742X | |
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 505 | 1 | |a Part I Random Finite Sets Why Random Finite Sets? Estimation with Random Finite Sets Part II Random Finite Set Based Robotic Mapping An RFS Theoretic for Bayesian Feature-Based Robotic Mapping An RFS Brute Force Formulation for Bayesian SLAM Rao-Blackwellised RFS Bayesian SLAM Extensions with RFSs in SLAM | |
| 506 | |a Accès en ligne pour les établissements français bénéficiaires des licences nationales | ||
| 506 | |a Accès soumis à abonnement pour tout autre établissement | ||
| 506 | |a Conditions particulières de réutilisation pour les bénéficiaires des licences nationales. https://www.licencesnationales.fr/springer-nature-ebooks-contrat-licence-ln-2017 | ||
| 520 | |a Simultaneous Localisation and Map (SLAM) building algorithms, which rely on random vectors to represent sensor measurements and feature maps are known to be extremely fragile in the presence of feature detection and data association uncertainty. Therefore new concepts for autonomous map representations are given in this book, based on random finite sets (RFSs). It will be shown that the RFS representation eliminates the necessity of fragile data association and map management routines. It fundamentally differs from vector based approaches since it estimates not only the spatial states of features but also the number of map features which have passed through the field(s) of view of a robot's sensor(s), an attribute which is necessary for SLAM. The book also demonstrates that in SLAM, a valid measure of map estimation error is critical. It will be shown that under an RFS-SLAM representation, a consistent metric, which gauges both feature number as well as spatial errors, can be defined. The concepts of RFS map representations are accompanied with autonomous SLAM experiments in urban and marine environments. Comparisons of RFS-SLAM with state of the art vector based methods are given, along with pseudo-code implementations of all the RFS techniques presented. John Mullane received the B.E.E. degree from University College Cork, Ireland, and Ph.D degree from Nanyang Technological University (NTU), Singapore. Ba-Ngu Vo is Winthrop Professor and Chair of Signal Processing, University of Western Australia (UWA). He received joint Bachelor degrees (Science and Elec. Eng.), UWA, and Ph.D., Curtin University. Martin Adams is Professor in autonomous robotics research, University of Chile. He holds bachelors, masters and doctoral degrees from Oxford University. Ba-Tuong Vo is Assistant Professor, UWA. He received his B.Sc, B.E and Ph.D. degrees from UWA | ||
| 700 | 1 | |a Vo, Ba-Ngu, |d 19..- |4 aut | |
| 700 | 1 | |a Adams, Martin David, |d 19..- |4 aut | |
| 700 | 1 | |a Vo, Ba-Tuong, |d 19..- |4 aut | |
| 776 | 0 | |t Random Finite Sets for Robot Mapping and SLAM |b Texte imprimé |z 9783642213892 | |
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| 776 | 0 | |t Random Finite Sets for Robot Mapping & SLAM |b Texte imprimé |z 9783642213915 | |
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