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Simultaneous localization and mapping [[electronic resource] ] : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake
| Simultaneous localization and mapping [[electronic resource] ] : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake |
| Autore | Wang Zhan |
| Pubbl/distr/stampa | Singapore ; ; Hackensack, N.J., : World Scientific, c2011 |
| Descrizione fisica | 1 online resource (208 p.) |
| Disciplina | 629.892637 |
| Altri autori (Persone) |
HuangShoudong <1969->
DissanayakeGamini |
| Collana | New frontiers in robotics |
| Soggetto topico |
Mobile robots
Robots - Control systems Sparse matrices Robotics Mappings (Mathematics) |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-283-43379-6
9786613433794 981-4350-32-X |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
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 D-SLAM; 3.1.3 Mapping; 3.1.4 Localization; 3.2 Structure of the Information Matrix in D-SLAM 3.3 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 Summary Chapter 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 Recovery 4.4.4 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 Map 5.2.1 Adding XG(k+1)s into the Global Map |
| Record Nr. | UNINA-9910464543603321 |
Wang Zhan
|
||
| Singapore ; ; Hackensack, N.J., : World Scientific, c2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Simultaneous localization and mapping [[electronic resource] ] : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake
| Simultaneous localization and mapping [[electronic resource] ] : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake |
| Autore | Wang Zhan |
| Pubbl/distr/stampa | Singapore ; ; Hackensack, N.J., : World Scientific, c2011 |
| Descrizione fisica | 1 online resource (208 p.) |
| Disciplina | 629.892637 |
| Altri autori (Persone) |
HuangShoudong <1969->
DissanayakeGamini |
| Collana | New frontiers in robotics |
| Soggetto topico |
Mobile robots
Robots - Control systems Sparse matrices Robotics Mappings (Mathematics) |
| ISBN |
1-283-43379-6
9786613433794 981-4350-32-X |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
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 D-SLAM; 3.1.3 Mapping; 3.1.4 Localization; 3.2 Structure of the Information Matrix in D-SLAM 3.3 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 Summary Chapter 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 Recovery 4.4.4 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 Map 5.2.1 Adding XG(k+1)s into the Global Map |
| Record Nr. | UNINA-9910788963203321 |
|
Wang Zhan
|
||
| Singapore ; ; Hackensack, N.J., : World Scientific, c2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Simultaneous localization and mapping [[electronic resource] ] : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake
| Simultaneous localization and mapping [[electronic resource] ] : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake |
| Autore | Wang Zhan |
| Pubbl/distr/stampa | Singapore ; ; Hackensack, N.J., : World Scientific, c2011 |
| Descrizione fisica | 1 online resource (208 p.) |
| Disciplina | 629.892637 |
| Altri autori (Persone) |
HuangShoudong <1969->
DissanayakeGamini |
| Collana | New frontiers in robotics |
| Soggetto topico |
Mobile robots
Robots - Control systems Sparse matrices Robotics Mappings (Mathematics) |
| ISBN |
1-283-43379-6
9786613433794 981-4350-32-X |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
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 D-SLAM; 3.1.3 Mapping; 3.1.4 Localization; 3.2 Structure of the Information Matrix in D-SLAM 3.3 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 Summary Chapter 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 Recovery 4.4.4 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 Map 5.2.1 Adding XG(k+1)s into the Global Map |
| Record Nr. | UNINA-9910827254403321 |
|
Wang Zhan
|
||
| Singapore ; ; Hackensack, N.J., : World Scientific, c2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||