000 | 03811nam a22005415i 4500 | ||
---|---|---|---|
999 |
_c13644 _d13644 |
||
001 | 978-3-319-60603-3 | ||
003 | DE-He213 | ||
005 | 20211204110810.0 | ||
008 | 170622s2018 gw | s |||| 0|eng d | ||
020 | _a9783319606033 | ||
040 | _cAIKTC-KRRC | ||
041 | _aENG | ||
072 | 7 |
_aTJFM1 _2bicssc |
|
072 | 7 |
_aTEC037000 _2bisacsh |
|
072 | 7 |
_aTJFM1 _2thema |
|
082 | 0 | 4 |
_a629.892 _223 |
100 | 1 |
_aValencia, Rafael. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut |
|
245 | 1 | 0 |
_aMapping, Planning and Exploration with Pose SLAM _h[electronic resource] / |
250 | _a1st ed. 2018. | ||
264 | 1 |
_aCham : _bSpringer International Publishing : _bImprint: Springer, _c2018. |
|
300 |
_aXII, 114 p. 40 illus., 38 illus. in color. _bCard Paper |
||
336 |
_atext _btxt _2rdacontent |
||
337 |
_acomputer _bc _2rdamedia |
||
338 |
_aonline resource _bcr _2rdacarrier |
||
347 |
_atext file _bPDF _2rda |
||
490 | 1 |
_aSpringer Tracts in Advanced Robotics, _x1610-7438 ; _v119 |
|
520 | _aThis monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are used to produce relative motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this monograph covers the study of such measurements when they are obtained with stereo cameras, develops the appropriate noise propagation models for such case, extends the Pose SLAM formulation to SE(3), introduces information-theoretic loop closure tests, and presents a technique to compute traversability maps from the 3D volumetric maps obtained with Pose SLAM. A relevant topic covered in this monograph is the introduction of a novel path planning approach that exploits the modeled uncertainties in Pose SLAM to search for the path in the pose graph that allows the robot to navigate to a given goal with the least probability of becoming lost. Another relevant topic is the introduction of an autonomous exploration method that selects the appropriate actions to drive the robot so as to maximize coverage, while minimizing localization and map uncertainties. This monograph is appropriate for readers interested in an information-theoretic unified perspective to the SLAM, path planning and exploration problems, and is a reference book for people who work in mobile robotics research in general. | ||
650 | 0 |
_aComputer Engineering _94622 |
|
653 | _aAutomation. | ||
653 | _aArtificial intelligence. | ||
653 | _aRobotics and Automation. | ||
700 | 1 |
_aAndrade-Cetto, Juan. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut |
|
710 | 2 | _aSpringerLink (Online service) | |
773 | 0 | _tSpringer Nature eBook | |
776 | 0 | 8 |
_iPrinted edition: _z9783319606026 |
776 | 0 | 8 |
_iPrinted edition: _z9783319606040 |
776 | 0 | 8 |
_iPrinted edition: _z9783319868974 |
830 | 0 |
_aSpringer Tracts in Advanced Robotics, _x1610-7438 ; _v119 |
|
856 | 4 | 0 |
_uhttps://doi.org/10.1007/978-3-319-60603-3 _zClick here to access eBook in Springer Nature platform. (Within Campus only.) |
942 |
_cEBOOKS _2ddc |