Titlebook: Random Finite Sets for Robot Mapping & SLAM; New Concepts in Auto John Mullane,Ba-Ngu Vo,Ba-Tuong Vo Book 2011 Springer Berlin Heidelberg 2

外观

978-3-642-26831-1Springer Berlin Heidelberg 2011

GEN

Paradox

Why Random Finite Sets?al relationship between environmental feature representations, and robot motion. We further the justification for the use of RFSs in FBRM and SLAM by considering an issue of fundamental mathematical importance in any estimation problem - estimation error.

不自然

1610-7438 otic research - the representation of the environment and itThe monograph written by John Mullane, Ba-Ngu Vo, Martin Adams and Ba-Tuong Vo is devoted to the field of autonomous robot systems, which have been receiving a great deal of attention by the research community in the latest few years. The c

高射炮

accessory

attenuate

Extensions with RFSs in SLAMensity, ., and the vehicle trajectory. Recall from Chapter 3 that the integral of the PHD, which operates on a feature state space, gives the expected number of features in the map, at its maxima represent regions in Euclidean map space where features are most likely to exist.

奖牌

Rao-Blackwellised RFS Bayesian SLAMerior PHD of the map and the posterior distribution of the vehicle trajectory. In this chapter however, a Rao-Blackwellised (RB) implementation of the PHD-SLAM filter is proposed based on the GM PHD filter for the map and a particle filter for the vehicle trajectory, with initial results presented in [56] and further refinements in [57].

Devastate

Book 2011onment and its uncertainty in terms of feature based maps. Random Finite Sets are adopted as the fundamental tool to represent a map, and a general framework is proposed for feature management, data association and state estimation. The approaches are tested in a number of experiments on both ground based and marine based facilities.

Outmoded

Introductionwith actuators, are broadly labelled as “Robots”. Due to the imperfect nature of all real sensors and actuators, the lack of predictability within real environments and the necessary approximations to achieve computational decisions, robotics is a science which is becoming ever more dependent on pro