東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

Switchable constraints for robust si...

Sunderhauf, Niko.

FindBook

Google Book

Amazon

博客來

Switchable constraints for robust simultaneous localization and mapping and satellite-based localization

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Switchable constraints for robust simultaneous localization and mapping and satellite-based localization/ by Niko Sunderhauf.
作者:	Sunderhauf, Niko.
出版者:	Cham :Springer International Publishing : : 2023.,
面頁冊數:	xiv, 184 p. :ill., digital ;24 cm.
內容註:	Simultaneous Localization And Mapping -- Least Squares Optimization -- Motivation - When Optimization Fails -- A Robust Back-End for SLAM -- Evaluation.
Contained By:	Springer Nature eBook
標題:	Robot vision. -
電子資源:	https://doi.org/10.1007/978-3-031-24017-1
ISBN:	9783031240171

Switchable constraints for robust simultaneous localization and mapping and satellite-based localization
Sunderhauf, Niko.

Switchable constraints for robust simultaneous localization and mapping and satellite-based localization[electronic resource] /by Niko Sunderhauf. - Cham :Springer International Publishing :2023. - xiv, 184 p. :ill., digital ;24 cm. - Springer tracts in advanced robotics,v. 1371610-742X ;. - Springer tracts in advanced robotics ;v. 137..

Simultaneous Localization And Mapping -- Least Squares Optimization -- Motivation - When Optimization Fails -- A Robust Back-End for SLAM -- Evaluation.

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. It explains 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 along with evaluations on different datasets. The book shows that Switchable Constraints are applicable beyond SLAM problems and demonstrates the efficacy of this technique to improve the quality of satellite-based localization in urban environments, where multipath and non-line-of-sight situations are common error sources.

ISBN: 9783031240171

Standard No.: 10.1007/978-3-031-24017-1doiSubjects--Topical Terms:

674122
Robot vision.

LC Class. No.: TJ211.3 / .S86 2023

Dewey Class. No.: 629.892637

Switchable constraints for robust simultaneous localization and mapping and satellite-based localization
LDR:02802nmm a2200337 a 4500 001 2317640
003 DE-He213
005 20230407133646.0
006 m d
007 cr nn 008maaau
008 230902s2023 sz s 0 eng d
020 $a 9783031240171 $q (electronic bk.)
020 $a 9783031240157 $q (paper)
024 7 $a 10.1007/978-3-031-24017-1 $2 doi
035 $a 978-3-031-24017-1
040 $a GP $c GP
041 0 $a eng
050 4 $a TJ211.3 $b .S86 2023
072 7 $a TJFM $2 bicssc
072 7 $a TEC037000 $2 bisacsh
072 7 $a TJFM $2 thema
082 0 4 $a 629.892637 $2 23
090 $a TJ211.3 $b .S957 2023
100 1 $a Sunderhauf, Niko. $3 3631947
245 1 0 $a Switchable constraints for robust simultaneous localization and mapping and satellite-based localization $h [electronic resource] / $c by Niko Sunderhauf.
260 $a Cham : $b Springer International Publishing : $b Imprint: Springer, $c 2023.
300 $a xiv, 184 p. : $b ill., digital ; $c 24 cm.
490 1 $a Springer tracts in advanced robotics, $x 1610-742X ; $v v. 137
505 0 $a Simultaneous Localization And Mapping -- Least Squares Optimization -- Motivation - When Optimization Fails -- A Robust Back-End for SLAM -- Evaluation.
520 $a 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. It explains 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 along with evaluations on different datasets. The book shows that Switchable Constraints are applicable beyond SLAM problems and demonstrates the efficacy of this technique to improve the quality of satellite-based localization in urban environments, where multipath and non-line-of-sight situations are common error sources.
650 0 $a Robot vision. $3 674122
650 1 4 $a Control, Robotics, Automation. $3 3592500
650 2 4 $a Artificial Intelligence. $3 769149
650 2 4 $a Computer Imaging, Vision, Pattern Recognition and Graphics. $3 890871
710 2 $a SpringerLink (Online service) $3 836513
773 0 $t Springer Nature eBook
830 0 $a Springer tracts in advanced robotics ; $v v. 137. $3 3631948
856 4 0 $u https://doi.org/10.1007/978-3-031-24017-1
950 $a Intelligent Technologies and Robotics (SpringerNature-42732)