國立高雄大學圖資館 |

Language: English

Back

Mapping, planning and exploration wi...

Andrade-Cetto, Juan.

Mapping, planning and exploration with Pose SLAM

Record Type:	Electronic resources : Monograph/item
Title/Author:	Mapping, planning and exploration with Pose SLAMby Rafael Valencia, Juan Andrade-Cetto.
Author:	Valencia, Rafael.
other author:	Andrade-Cetto, Juan.
Published:	Cham :Springer International Publishing :2018.
Description:	xii, 114 p. :ill., digital ;24 cm.
Contained By:	Springer eBooks
Subject:	Robotics.
Online resource:	http://dx.doi.org/10.1007/978-3-319-60603-3
ISBN:	9783319606033$q(electronic bk.)

Mapping, planning and exploration with Pose SLAM
Valencia, Rafael.

Mapping, planning and exploration with Pose SLAM[electronic resource] /by Rafael Valencia, Juan Andrade-Cetto. - Cham :Springer International Publishing :2018. - xii, 114 p. :ill., digital ;24 cm. - Springer tracts in advanced robotics,1191610-7438 ;. - Springer tracts in advanced robotics ;v. 13.

Introduction -- SLAM Front-end -- SLAM Back-end -- Path planning in belief space with Pose SLAM -- Active Pose SLAM -- Conclusions.

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.

ISBN: 9783319606033$q(electronic bk.)

Standard No.: 10.1007/978-3-319-60603-3doiSubjects--Topical Terms:

181952
Robotics.

LC Class. No.: TJ211

Dewey Class. No.: 629.892

Mapping, planning and exploration with Pose SLAM
LDR:02749nmm a2200337 a 4500 001 526581
003 DE-He213
005 20170622044424.0
006 m d
007 cr nn 008maaau
008 181012s2018 gw s 0 eng d
020 $a 9783319606033$q(electronic bk.)
020 $a 9783319606026$q(paper)
024 7 $a 10.1007/978-3-319-60603-3 $2 doi
035 $a 978-3-319-60603-3
040 $a GP $c GP
041 0 $a eng
050 4 $a TJ211
072 7 $a TJFM1 $2 bicssc
072 7 $a TEC037000 $2 bisacsh
072 7 $a TEC004000 $2 bisacsh
082 0 4 $a 629.892 $2 23
090 $a TJ211 $b .V152 2018
100 1 $a Valencia, Rafael. $3 799236
245 1 0 $a Mapping, planning and exploration with Pose SLAM $h [electronic resource] / $c by Rafael Valencia, Juan Andrade-Cetto.
260 $a Cham : $b Springer International Publishing : $b Imprint: Springer, $c 2018.
300 $a xii, 114 p. : $b ill., digital ; $c 24 cm.
490 1 $a Springer tracts in advanced robotics, $x 1610-7438 ; $v 119
505 0 $a Introduction -- SLAM Front-end -- SLAM Back-end -- Path planning in belief space with Pose SLAM -- Active Pose SLAM -- Conclusions.
520 $a 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.
650 0 $a Robotics. $3 181952
650 0 $a Robots. $3 197834
650 1 4 $a Engineering. $3 210888
650 2 4 $a Robotics and Automation. $3 357111
650 2 4 $a Artificial Intelligence (incl. Robotics) $3 252959
700 1 $a Andrade-Cetto, Juan. $3 278857
710 2 $a SpringerLink (Online service) $3 273601
773 0 $t Springer eBooks
830 0 $a Springer tracts in advanced robotics ; $v v. 13 $3 452791
856 4 0 $u http://dx.doi.org/10.1007/978-3-319-60603-3
950 $a Engineering (Springer-11647)