Underwater SLAM for Structured Environments Using an Imaging Sonar, David Ribas; Pere Ridao; Jos? Neira

Автор: John J. Leonard; Hugh F. Durrant-Whyte
Название: Directed Sonar Sensing for Mobile Robot Navigation
ISBN: 1461366259 ISBN-13(EAN): 9781461366256
Издательство: Springer
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Цена: 16979.00 р.
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Описание: We view model-based navigation as a process of tracking naturally occurring environment features, which we refer to as "targets". Targets that have been predicted from the environment map are tracked to provide that are observed, but not predicted, vehicle position estimates.

Автор: Rafael Valencia; Juan Andrade-Cetto
Название: Mapping, Planning and Exploration with Pose SLAM
ISBN: 3319606026 ISBN-13(EAN): 9783319606026
Издательство: Springer
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Цена: 16769.00 р.
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Описание: 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.

Автор: John J. Leonard; Hugh F. Durrant-Whyte
Название: Directed Sonar Sensing for Mobile Robot Navigation
ISBN: 0792392426 ISBN-13(EAN): 9780792392422
Издательство: Springer
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Цена: 22201.00 р.
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Описание: Accurate map building and position estimation for mobile robots using sonar has been elusive, because of the difficulty in interpreting sonar data correctly. This book aims to prove that sonar can fulfil the perception role for the provision of long-term autonomous navigation.

Автор: John Stephen Mullane; Ba-Ngu Vo; Martin David Adam
Название: Random Finite Sets for Robot Mapping & SLAM
ISBN: 3642268315 ISBN-13(EAN): 9783642268311
Издательство: Springer
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Цена: 15672.00 р.
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Описание: This book details the use of random finite sets (RFS) and finite set statistics (FISST) in robotics. It focuses on the representation of the environment and its uncertainty, and presents pseudo-code implementations of all the RFS techniques.

Автор: F. Alberto Gr?nbaum; Marvin Bernfeld; Richard E. B
Название: Radar and Sonar
ISBN: 1468478346 ISBN-13(EAN): 9781468478341
Издательство: Springer
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Цена: 6986.00 р.
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Описание: This IMA Volume in Mathematics and its Applications RADAR AND SONAR, PART II is based on the proceedings of the second week of the IMA summer program "Radar and Sonar".