Environment learning for indoor mobile robots : a stochastic state estimation approach to simultaneous localization and map building
著者
書誌事項
Environment learning for indoor mobile robots : a stochastic state estimation approach to simultaneous localization and map building
（Springer tracts in advanced robotics, v. 23）
Springer, c2006
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注記
Bibliography: p. [131]-136
内容説明・目次
内容説明
This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots. These include estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM.
目次
Simultaneous Localization and Map Building.- Marginal Filter Stability.- Suboptimal Filter Stability.- Unscented Transformation of Vehicle States.- Simultaneous Localization, Control and Mapping.- A: The Kalman Filter.- B: Concepts from Linear Algebra.- C: Sigma Points.
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