3d Robotic Mapping
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3d Robotic Mapping
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Author : Andreas Nüchter
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-01-17
3d Robotic Mapping written by Andreas Nüchter and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-01-17 with Technology & Engineering categories.
Focuses on acquiring spatial models of physical environments through mobile robots The robotic mapping problem is commonly referred to as SLAM (simultaneous localization and mapping). 3D maps are necessary to avoid collisions with complex obstacles and to self-localize in six degrees of freedom (x-, y-, z-position, roll, yaw and pitch angle) New solutions to the 6D SLAM problem for 3D laser scans are proposed and a wide variety of applications are presented
3d Robotic Mapping And Place Recognition
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Author : Muhammad Sheraz Khan
language : en
Publisher:
Release Date : 2017
3d Robotic Mapping And Place Recognition written by Muhammad Sheraz Khan and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
Semantic 3d Object Maps For Everyday Robot Manipulation
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Author : Radu Bogdan Rusu
language : en
Publisher: Springer
Release Date : 2013-01-13
Semantic 3d Object Maps For Everyday Robot Manipulation written by Radu Bogdan Rusu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-01-13 with Technology & Engineering categories.
The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks. The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as a frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see http://pointclouds.org.
Mapping Planning And Exploration With Pose Slam
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Author : Rafael Valencia
language : en
Publisher: Springer
Release Date : 2017-06-21
Mapping Planning And Exploration With Pose Slam written by Rafael Valencia and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-06-21 with Technology & Engineering categories.
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 search for 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 method that selects the appropriate actions to drive the robot so as to maximize coverage, while minimizing localization and map uncertainties. This monograph is appropriate for readers interested in an information-theoretic unified perspective to the SLAM, path planning and exploration problems, and is a reference book for people who work in mobile robotics research in general.
Current Advancements In Stereo Vision
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Author : Asim Bhatti
language : en
Publisher: IntechOpen
Release Date : 2012-07-11
Current Advancements In Stereo Vision written by Asim Bhatti and has been published by IntechOpen this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-11 with Computers categories.
The book is a new edition of stereo vision book series of INTECH Open Access Publisher and it presents diverse range of ideas and applications highlighting current research/technology trends and advances in the field of stereo vision. The topics covered in this book include fundamental theoretical aspects of robust stereo correspondence estimation, novel and robust algorithms, hardware implementation for fast execution and applications in wide range of disciplines. Particularly interesting approaches include neuromorphic engineering, probabilistic analysis and anisotropic reaction diffusion addressing the problem of stereo correspondence and the applications in mobile robotics for autonomous terrain mapping and navigation. SterCentre for Intelligent Systems Research (CISR), Institute of Technology, Research and Innovation (ITRI),eo algorithm with anisotropic reaction-diffusion systems utilizing biologically motivated reaction-diffusion systems with anisotropic diffusion coefficients makes it an interesting addition to the book.
Slam Techniques Application For Mobile Robot In Rough Terrain
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Author : Andrii Kudriashov
language : en
Publisher: Springer Nature
Release Date : 2020-07-08
Slam Techniques Application For Mobile Robot In Rough Terrain written by Andrii Kudriashov and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-07-08 with Technology & Engineering categories.
This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system’s development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots’ homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.
Robotic Mapping And Exploration
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Author : Cyrill Stachniss
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-04-27
Robotic Mapping And Exploration written by Cyrill Stachniss and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-04-27 with Technology & Engineering categories.
"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Autonomous Mobile Mapping Robots
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Author : Janusz Bedkowski
language : en
Publisher: Intechopen
Release Date : 2023-05
Autonomous Mobile Mapping Robots written by Janusz Bedkowski and has been published by Intechopen this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-05 with categories.
This book presents recent research advances in autonomous mobile mapping robots, covering a range of topics. These include unconventional trajectories for mobile 3D scanning, key software components such as lidar odometry, look closure, pose graph SLAM, map refinement, path planning, and coverage algorithms. The book also explores multi-robot mapping and scalable algorithms for simultaneous localization and mapping. Finally, it delves into real-world applications like aerial 3D mapping and automotive SLAM in urban environments.
Autonomous Interior Mapping Robot Utilizing Lidar Localization And Mapping
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Author : Naval Postgraduate School
language : en
Publisher:
Release Date : 2021-01-17
Autonomous Interior Mapping Robot Utilizing Lidar Localization And Mapping written by Naval Postgraduate School and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-01-17 with categories.
Combat actions are planned based on the best available information. In nearly all situations, significant uncertainty about the combat environment exists. This uncertainty contributes largely to friendly and non-combatant casualties. At the tactical level, operators are often required to enter hostile-occupied buildings without knowledge of the building layout. Military operators have begun to use robots to assist in missions of this type. In general, currently fielded robots lack autonomy and the ability to disseminate an accurate map, on-site, in real time. The purpose of this thesis is to examine the feasibility of an autonomous robot that can localize and build accurate 3D maps using only light detection and ranging (LIDAR). To accomplish this, a robot equipped with only LIDAR and a control algorithm for LIDAR localization and mapping (LLAM) were developed. Trials were then developed to determine if LLAM is a feasible model for interior 3D mapping. Navigation was accomplished using a potential field model adapted from previous work combined with the Hybrid A* search algorithm. Mapping and localization were conducted using the iterative closest point and normal distribution transform methods of point cloud registration. Experimentation revealed that LLAM is a feasible method for interior 3D mapping in real time. Further development of the algorithm may make fielding a LIDAR-equipped mapping robot possible with current mobile computing technology.
Random Finite Sets For Robot Mapping Slam
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Author : John Stephen Mullane
language : en
Publisher: Springer
Release Date : 2011-05-19
Random Finite Sets For Robot Mapping Slam written by John Stephen Mullane and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-05-19 with Technology & Engineering categories.
The monograph written by John Mullane, Ba-Ngu Vo, Martin Adams and Ba-Tuong Vo is devoted to the field of autonomous robot systems, which have been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the problem of representing the environment and its uncertainty in terms of feature based maps. Random Finite Sets are adopted as the fundamental tool to represent a map, and a general framework is proposed for feature management, data association and state estimation. The approaches are tested in a number of experiments on both ground based and marine based facilities.