Authors:
Buy it now
Buying options
Tax calculation will be finalised at checkout
Other ways to access
This is a preview of subscription content, log in via an institution to check for access.
Table of contents (7 chapters)
-
Front Matter
-
Back Matter
About this book
The main problems described throughout this book are:
- Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element.
- A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space.
- The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach.
Authors and Affiliations
-
Department of Computer Science and Systems Engineering, University of Zaragoza, Spain
José A. Castellanos, Juan D. Tardós
Bibliographic Information
Book Title: Mobile Robot Localization and Map Building
Book Subtitle: A Multisensor Fusion Approach
Authors: José A. Castellanos, Juan D. Tardós
DOI: https://doi.org/10.1007/978-1-4615-4405-0
Publisher: Springer New York, NY
-
eBook Packages: Springer Book Archive
Copyright Information: Kluwer Academic Publishers 1999
Hardcover ISBN: 978-0-7923-7789-4Published: 31 March 2000
Softcover ISBN: 978-1-4613-6982-0Published: 14 November 2012
eBook ISBN: 978-1-4615-4405-0Published: 06 December 2012
Edition Number: 1
Number of Pages: XIII, 205
Topics: Control, Robotics, Mechatronics, Mechanical Engineering, Artificial Intelligence