Mapping, Planning and Exploration with Pose SLAM (Record no. 80750)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 03794nam a22005655i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-3-319-60603-3 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20220801222423.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 170622s2018 sz | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| ISBN | 9783319606033 |
| -- | 978-3-319-60603-3 |
| 082 04 - CLASSIFICATION NUMBER | |
| Call Number | 629.8 |
| 100 1# - AUTHOR NAME | |
| Author | Valencia, Rafael. |
| 245 10 - TITLE STATEMENT | |
| Title | Mapping, Planning and Exploration with Pose SLAM |
| 250 ## - EDITION STATEMENT | |
| Edition statement | 1st ed. 2018. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Number of Pages | XII, 114 p. 40 illus., 38 illus. in color. |
| 490 1# - SERIES STATEMENT | |
| Series statement | Springer Tracts in Advanced Robotics, |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Remark 2 | Introduction -- SLAM Front-end -- SLAM Back-end -- Path planning in belief space with Pose SLAM -- Active Pose SLAM -- Conclusions. |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | This 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. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Andrade-Cetto, Juan. |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | https://doi.org/10.1007/978-3-319-60603-3 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | eBooks |
| 264 #1 - | |
| -- | Cham : |
| -- | Springer International Publishing : |
| -- | Imprint: Springer, |
| -- | 2018. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Automation. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Artificial intelligence. |
| 650 14 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control, Robotics, Automation. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Artificial Intelligence. |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE | |
| -- | 1610-742X ; |
| 912 ## - | |
| -- | ZDB-2-ENG |
| 912 ## - | |
| -- | ZDB-2-SXE |
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