| 书目名称 | Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localiza |
| 编辑 | Niko Sünderhauf |
| 视频video | |
| 概述 | Presents recent research in robust optimization for Simultaneous Localization and Mapping.Includes a well-written and comprehensive historical overview and tutorial.Proposes an optimization framework |
| 丛书名称 | Springer Tracts in Advanced Robotics |
| 图书封面 |  |
| 描述 | .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. Itexplains 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 al |
| 出版日期 | Book 2023 |
| 关键词 | 3D SLAM; Footslam; Monte Carlo Localization; Non-Gaussian Error Characteristics; Robot Localization; Robo |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-031-24017-1 |
| isbn_ebook | 978-3-031-24017-1Series ISSN 1610-7438 Series E-ISSN 1610-742X |
| issn_series | 1610-7438 |
| copyright | Springer Nature Switzerland AG 2023 |
发表于 2025-3-21 18:18:41
