03249nam 2200481 450 991068648200332120230731000211.03-031-24017-010.1007/978-3-031-24017-1(CKB)5840000000241873(DE-He213)978-3-031-24017-1(MiAaPQ)EBC7236738(Au-PeEL)EBL7236738(PPN)269655441(EXLCZ)99584000000024187320230731d2023 uy 0engurnn|008mamaatxtrdacontentcrdamediacrrdacarrierSwitchable constraints for robust simultaneous localization and mapping and satellite-based localization /Niko Sünderhauf1st ed. 2023.Cham, Switzerland :Springer,[2023]©20231 online resource (XIV, 184 p. 81 illus., 76 illus. in color.) Springer Tracts in Advanced Robotics,1610-742X ;1373-031-24015-4 Includes bibliographical references.Simultaneous Localization And Mapping -- Least Squares Optimization -- Motivation - When Optimization Fails -- A Robust Back-End for SLAM -- Evaluation.Simultaneous Localization and Mapping (SLAM) has been a long-standing research problem in robotics. It describes the problem of a robot mapping an unknown environment, while simultaneously localizing in it with the help of the incomplete map. This book describes a technique called Switchable Constraints. Switchable Constraints help to increase the robustness of SLAM against data association errors and in particular against false positive loop closure detections. Such false positive loop closure detections can occur when the robot erroneously assumes it re-observed a landmark it has already mapped or when the appearance of the observed surroundings is very similar to the appearance of other places in the map. Ambiguous observations and appearances are very common in human-made environments such as office floors or suburban streets, making robustness against spurious observations a key challenge in SLAM. The book summarizes the foundations of factor graph-based SLAM techniques. It explains the problem of data association errors before introducing the novel idea of Switchable Constraints. We present a mathematical derivation and probabilistic interpretation of Switchable Constraints along with evaluations on different datasets. The book shows that Switchable Constraints are applicable beyond SLAM problems and demonstrates the efficacy of this technique to improve the quality of satellite-based localization in urban environments, where multipath and non-line-of-sight situations are common error sources.Springer Tracts in Advanced Robotics,1610-742X ;137Robot visionRobot vision.629.892637Sünderhauf Niko1353548MiAaPQMiAaPQMiAaPQBOOK9910686482003321Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localization3263288UNINA