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03771nam a22005295i 4500 |
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978-3-540-32848-3 |
| 003 - CONTROL NUMBER IDENTIFIER |
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DE-He213 |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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20161121231118.0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION |
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cr nn 008mamaa |
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100806s2006 gw | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
9783540328483 |
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978-3-540-32848-3 |
| 024 7# - OTHER STANDARD IDENTIFIER |
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| Standard number or code |
10.1007/11418382 |
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doi |
| 050 #4 - LIBRARY OF CONGRESS CALL NUMBER |
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| Classification number |
TJ212-225 |
| 072 #7 - SUBJECT CATEGORY CODE |
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TJFM |
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bicssc |
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TEC004000 |
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bisacsh |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER |
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| Classification number |
629.8 |
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23 |
| 100 1# - MAIN ENTRY--PERSONAL NAME |
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| Personal name |
Andrade-Cetto, Juan. |
| Relator term |
author. |
| 245 10 - TITLE STATEMENT |
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| Title |
Environment Learning for Indoor Mobile Robots |
| Medium |
[electronic resource] : |
| Remainder of title |
A Stochastic State Estimation Approach to Simultaneous Localization and Map Building / |
| Statement of responsibility, etc. |
by Juan Andrade-Cetto, Alberto Sanfeliu. |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
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| Place of production, publication, distribution, manufacture |
Berlin, Heidelberg : |
| Name of producer, publisher, distributor, manufacturer |
Springer Berlin Heidelberg, |
| Date of production, publication, distribution, manufacture, or copyright notice |
2006. |
| 300 ## - PHYSICAL DESCRIPTION |
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| Extent |
XVI, 136 p. |
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online resource. |
| 336 ## - CONTENT TYPE |
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text |
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txt |
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rdacontent |
| 337 ## - MEDIA TYPE |
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computer |
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c |
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rdamedia |
| 338 ## - CARRIER TYPE |
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online resource |
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cr |
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rdacarrier |
| 347 ## - DIGITAL FILE CHARACTERISTICS |
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| File type |
text file |
| Encoding format |
PDF |
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rda |
| 490 1# - SERIES STATEMENT |
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| Series statement |
Springer Tracts in Advanced Robotics, |
| International Standard Serial Number |
1610-7438 ; |
| Volume/sequential designation |
23 |
| 505 0# - FORMATTED CONTENTS NOTE |
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| Formatted contents note |
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. |
| 520 ## - SUMMARY, ETC. |
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| Summary, etc. |
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 Rob�tica i Inform�tica 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 Rob�tica i Inform�tica Industrial, CSIC-UPC. His current research areas are Pattern Recognition, Computer Vision, and Robotics. He is Fellow of IAPR. 0 |
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author.2 |
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| 773 ## - HOST ITEM ENTRY |
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| 776 ## - ADDITIONAL PHYSICAL FORM ENTRY |
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| International Standard Book Number |
9783540327950 0 |
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| 830 ## - SERIES ADDED ENTRY--UNIFORM TITLE |
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| International Standard Serial Number |
1610-7438 ; |
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2340 |
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