05905nam 2200769 a 450 991046454360332120200520144314.01-283-43379-69786613433794981-4350-32-X(CKB)3400000000016157(EBL)3050909(OCoLC)777330118(SSID)ssj0000647634(PQKBManifestationID)12226958(PQKBTitleCode)TC0000647634(PQKBWorkID)10593761(PQKB)10997070(MiAaPQ)EBC3050909(WSP)00008145(Au-PeEL)EBL3050909(CaPaEBR)ebr10524592(CaONFJC)MIL343379(EXLCZ)99340000000001615720110920d2011 uy 0engur|n|---|||||txtccrSimultaneous localization and mapping[electronic resource] exactly sparse information filters /Zhan Wang, Shoudong Huang, Gamini DissanayakeSingapore ;Hackensack, N.J. World Scientificc20111 online resource (208 p.)New frontiers in robotics ;v. 3Description based upon print version of record.981-4350-31-1 Includes bibliographical references (p. 180-194).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 Formulation2.3 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 D-SLAM; 3.1.3 Mapping; 3.1.4 Localization; 3.2 Structure of the Information Matrix in D-SLAM3.3 Efficient State and Covariance Recovery3.3.1 Recovery Using the Preconditioned Conjugated Gradient (PCG) Method; 3.3.2 Recovery Using Complete Cholesky Factorization; 3.4 Implementation Issues; 3.4.1 Admissible Measurements; 3.4.2 Data Association; 3.5 Computer Simulations; 3.6 Experimental Evaluation; 3.6.1 Experiment in a Small Environment; 3.6.2 Experiment Using the Victoria Park Dataset; 3.7 Computational Complexity; 3.7.1 Storage; 3.7.2 Localization; 3.7.3 Mapping; 3.7.4 State and Covariance Recovery; 3.8 Consistency of D-SLAM; 3.9 Bibliographical Remarks; 3.10 SummaryChapter 4 D-SLAM Local Map Joining Filter4.1 Structure of D-SLAM Local Map Joining Filter; 4.1.1 State Vectors; 4.1.2 Relative Information Relating Feature Locations; 4.1.3 Combining Local Maps Using Relative Information; 4.2 Obtaining Relative Location Information in Local Maps; 4.2.1 Generating a Local Map; 4.2.2 Obtaining Relative Location Information in the Local Map; 4.3 Global Map Update; 4.3.1 Measurement Model; 4.3.2 Updating the Global Map; 4.3.3 Sparse Information Matrix; 4.4 Implementation Issues; 4.4.1 Robot Localization; 4.4.2 Data Association; 4.4.3 State and Covariance Recovery4.4.4 When to Start a New Local Map4.5 Computational Complexity; 4.5.1 Storage; 4.5.2 Local Map Construction; 4.5.3 Global Map Update; 4.5.4 Rescheduling the Computational Effort; 4.6 Computer Simulations; 4.6.1 Simulation in a Small Area; 4.6.2 Simulation in a Large Area; 4.7 Experimental Evaluation; 4.8 Bibliographical Remarks; 4.9 Summary; Chapter 5 Sparse Local Submap Joining Filter; 5.1 Structure of Sparse Local Submap Joining Filter; 5.1.1 Input to SLSJF - Local Maps; 5.1.2 Output of SLSJF - One Global Map; 5.2 Fusing Local Maps into the Global Map5.2.1 Adding XG(k+1)s into the Global MapSimultaneous localization and mapping (SLAM) is a process where an autonomous vehicle builds a map of an unknown environment while concurrently generating an estimate for its location. This book is concerned with computationally efficient solutions to the large scale SLAM problems using exactly sparse Extended Information Filters (EIF). The invaluable book also provides a comprehensive theoretical analysis of the properties of the information matrix in EIF-based algorithms for SLAM. Three exactly sparse information filters for SLAM are described in detail, together with two efficient and exact methods for recovering the state vector and the covariance matrix. Proposed algorithms are extensively evaluated both in simulation and through experiments.New frontiers in robotics ;v. 3.Mobile robotsRobotsControl systemsSparse matricesRoboticsMappings (Mathematics)Electronic books.Mobile robots.RobotsControl systems.Sparse matrices.Robotics.Mappings (Mathematics)629.892637Wang Zhan951211Huang Shoudong1969-951212Dissanayake Gamini951213MiAaPQMiAaPQMiAaPQBOOK9910464543603321Simultaneous localization and mapping2150305UNINA03250nam 2200673 450 991046165110332120200520144314.090-04-29955-610.1163/9789004299559(CKB)3710000000465606(EBL)2196899(SSID)ssj0001543363(PQKBManifestationID)16134180(PQKBTitleCode)TC0001543363(PQKBWorkID)12636380(PQKB)10988577(MiAaPQ)EBC2196899(OCoLC)912045452(nllekb)BRILL9789004299559(Au-PeEL)EBL2196899(CaPaEBR)ebr11094982(CaONFJC)MIL826378(OCoLC)919565140(EXLCZ)99371000000046560620150624h20152015 uy| 0engur|n|---|||||txtccrBeyond parliament human rights and the politics of social change in the global south /by Horman ChitongeLeiden ;Boston :Brill Nijhoff,[2015]©20151 online resource (287 p.)Nijhoff law specials ;volume 88Description based upon print version of record.90-04-22620-6 Includes bibliographical references and index.The politics of drinking and eating -- The human rights discourse : an overview -- Human rights development : building bridges -- Human rights in democratic politics -- The right to water : foundation, content and scope -- The right to food : origin, content and scope -- The rights to water and food in international and local politics -- The rights to water and food: strategies and lessons from global south.In Beyond Parliament Horman Chitonge offers a unique combination of the conceptual dimensions with the practical examples of human rights discourse deployed as an instrument for social change in the global south. He uses the right to water and the right to food to illustrate that human rights are never given on a silver platter; giving effect to human rights is always an outcome of a continuous struggle to protect human dignity and value. To implement this view of human rights, the book argues, requires going beyond the parliamentary politics of recognising and acknowledging human rights in statutes and bill of rights to the radical democratic politics of giving effect to the recognised rights, especially among the poor and marginalised.Nijhoff law specials ;88.Right to foodDeveloping countriesRight to waterDeveloping countriesBasic needsLaw and legislationDeveloping countriesHuman rightsSocial aspectsDeveloping countriesElectronic books.Right to foodRight to waterBasic needsLaw and legislationHuman rightsSocial aspects323.09172/4Chitonge Horman889079MiAaPQMiAaPQMiAaPQBOOK9910461651103321Beyond parliament1986538UNINA