| 書目名稱 | Mapping, Planning and Exploration with Pose SLAM | | 編輯 | Rafael Valencia,Juan Andrade-Cetto | | 視頻video | http://file.papertrans.cn/624/623831/623831.mp4 | | 概述 | Deals with the mapping, path planning, and autonomous exploration problems, adopting the so-called Pose SLAM as the basic state estimation machinery.Proposes a novel approach allowing a mobile robot t | | 叢書名稱 | Springer Tracts in Advanced Robotics | | 圖書封面 |  | | 描述 | .This monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are used to produce relative motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this monograph covers the study of such measurements when they are obtained with stereo cameras, develops the appropriate noise propagation models for such case, extends the Pose SLAM formulation to SE(3), introduces information-theoretic loop closure tests, and presents a technique to compute traversability maps from the 3D volumetric maps obtained with Pose SLAM. A relevant topic covered in this monograph is the introduction of a novel path planning approach that exploits the modeled uncertainties in Pose SLAM to searchfor the path in the pose graph that allows the robot to navigate to a given goal with the least probability of becoming lost. Another relevant topic is the introduction of an autonomous exploration meth | | 出版日期 | Book 2018 | | 關(guān)鍵詞 | Path Planning; Active Pose SLAM; Robotics; Pose graph optimization; Autonomous exploration | | 版次 | 1 | | doi | https://doi.org/10.1007/978-3-319-60603-3 | | isbn_softcover | 978-3-319-86897-4 | | isbn_ebook | 978-3-319-60603-3Series ISSN 1610-7438 Series E-ISSN 1610-742X | | issn_series | 1610-7438 | | copyright | Springer International Publishing AG 2018 |
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