Random Finite Sets for Robot Mapping & SLAM
New Concepts in Autonomous Robotic Map Representations
Simultaneous Localisation and Map (SLAM) building algorithms, which rely on random vectors to represent sensor measurements and feature maps are known to be extremely fragile in the presence of feature detection and data association uncertainty. Therefore new concepts for autonomous map representations are given in this book, based on random finite sets (RFSs). It will be shown that the RFS representation eliminates the necessity of fragile data association and map management routines. It fundamentally differs from vector based approaches since it estimates not only the spatial states of features but also the number of map features which have…
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Produktdetails
Weitere Autoren: Vo, Ba-Ngu / Adams, Martin David / Vo, Ba-Tuong
- ISBN: 978-3-642-26831-1
- EAN: 9783642268311
- Produktnummer: 16463283
- Verlag: Springer-Verlag GmbH
- Sprache: Englisch
- Erscheinungsjahr: 2013
- Seitenangabe: 148 S.
- Masse: H23.6 cm x B15.7 cm x D2.0 cm 280 g
- Auflage: 2011. 2011
- Abbildungen: biography
- Reihenbandnummer: 72
- Gewicht: 280
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