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Record Nr. |
UNINA9910827254403321 |
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Autore |
Wang Zhan |
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Titolo |
Simultaneous localization and mapping : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake |
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Pubbl/distr/stampa |
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Singapore ; ; Hackensack, N.J., : World Scientific, c2011 |
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ISBN |
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1-283-43379-6 |
9786613433794 |
981-4350-32-X |
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Edizione |
[1st ed.] |
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Descrizione fisica |
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1 online resource (208 p.) |
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Collana |
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New frontiers in robotics ; ; v. 3 |
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Altri autori (Persone) |
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HuangShoudong <1969-> |
DissanayakeGamini |
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Disciplina |
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Soggetti |
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Mobile robots |
Robots - Control systems |
Sparse matrices |
Robotics |
Mappings (Mathematics) |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Note generali |
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Description based upon print version of record. |
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Nota di bibliografia |
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Includes bibliographical references (p. 180-194). |
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Nota di contenuto |
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Contents; Preface; Acknowledgments; Chapter 1 Introduction; 1.1 The SLAM Problem and Its Applications; 1.1.1 Description of the SLAM Problem; 1.1.2 Applications of SLAM; 1.2 Summary of SLAM Approaches; 1.2.1 EKF/EIF based SLAM Approaches; 1.2.2 Other SLAM Approaches; 1.3 Key Properties of SLAM; 1.3.1 Observability; 1.3.2 EKF SLAM Convergence; 1.3.3 EKF SLAM Consistency; 1.4 Motivation; 1.5 Book Overview; Chapter 2 Sparse Information Filters in SLAM; 2.1 Information Matrix in the Full SLAM Formulation; 2.2 Information Matrix in the Conventional EIF SLAM Formulation |
2.3 Meaning of Zero Off-diagonal Elements in Information Matrix2.4 Conditions for Achieving Exact Sparseness; 2.5 Strategies for Achieving Exact Sparseness; 2.5.1 Decoupling Localization and Mapping; 2.5.2 Using Local Submaps; 2.5.3 Combining Decoupling and Submaps; 2.6 Important Practical Issues in EIF SLAM; 2.7 Summary; Chapter 3 Decoupling Localization and Mapping; 3.1 The D-SLAM Algorithm; 3.1.1 Extracting Map Information from Observations; 3.1.2 Key Idea of |
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