Description

Book Synopsis
Simultaneous 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.

Table of Contents
Introduction; Sparse Information Filters in SLAM; Decoupling Localization and Mapping; D-SLAM Local Map Joining Filter; Sparse Local Submap Joining Filter.

Simultaneous Localization And Mapping: Exactly

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A Hardback by Zhan Wang, Shoudong Huang, Gamini Dissanayake

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    View other formats and editions of Simultaneous Localization And Mapping: Exactly by Zhan Wang

    Publisher: World Scientific Publishing Co Pte Ltd
    Publication Date: 02/06/2011
    ISBN13: 9789814350310, 978-9814350310
    ISBN10: 9814350311
    Also in:
    Robotics

    Description

    Book Synopsis
    Simultaneous 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.

    Table of Contents
    Introduction; Sparse Information Filters in SLAM; Decoupling Localization and Mapping; D-SLAM Local Map Joining Filter; Sparse Local Submap Joining Filter.

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