Switchable Constraints For Robust Simultaneous Localization And Mapping And Satellite Based Localization
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Switchable Constraints For Robust Simultaneous Localization And Mapping And Satellite Based Localization
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Author : Niko Sünderhauf
language : en
Publisher: Springer Nature
Release Date : 2023-04-07
Switchable Constraints For Robust Simultaneous Localization And Mapping And Satellite Based Localization written by Niko Sünderhauf and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-04-07 with Technology & Engineering categories.
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.
Advanced Methods And Applications For Neurointelligence
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Author : Manning Wang
language : en
Publisher: Frontiers Media SA
Release Date : 2024-05-31
Advanced Methods And Applications For Neurointelligence written by Manning Wang and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-05-31 with Science categories.
Neurointelligence techniques play a key role in building general artificial intelligence systems. Some researchers and engineers have tried to design novel bio-inspired algorithms and hardware by mimicking the working principles of biological nervous systems. Benefiting from the progress in representational learning, neuroscience, and computational hardware, bio-inspired research has greatly contributed to the development of neurointelligence. Currently, advanced bio-inspired methods have been widely applied in robotics, visual scene understanding, medical image analysis, human-machine interaction and so on. Moreover, neurointelligence covers interdisciplinary topics with neuroscience, robotics, artificial intelligence, cognitive science, machine learning, and pattern recognition. This research topic is intended to provide a better understanding of the opportunities, challenges, and promising future directions for neurointelligence.
Towards Optimal Point Cloud Processing For 3d Reconstruction
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Author : Guoxiang Zhang
language : en
Publisher: Springer Nature
Release Date : 2022-06-03
Towards Optimal Point Cloud Processing For 3d Reconstruction written by Guoxiang Zhang and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-06-03 with Technology & Engineering categories.
This SpringerBrief presents novel methods of approaching challenging problems in the reconstruction of accurate 3D models and serves as an introduction for further 3D reconstruction methods. It develops a 3D reconstruction system that produces accurate results by cascading multiple novel loop detection, sifting, and optimization methods. The authors offer a fast point cloud registration method that utilizes optimized randomness in random sample consensus for surface loop detection. The text also proposes two methods for surface-loop sifting. One is supported by a sparse-feature-based optimization graph. This graph is more robust to different scan patterns than earlier methods and can cope with tracking failure and recovery. The other is an offline algorithm that can sift loop detections based on their impact on loop optimization results and which is enabled by a dense map posterior metric for 3D reconstruction and mapping performance evaluation works without any costly ground-truth data. The methods presented in Towards Optimal Point Cloud Processing for 3D Reconstruction will be of assistance to researchers developing 3D modelling methods and to workers in the wide variety of fields that exploit such technology including metrology, geological animation and mass customization in smart manufacturing.
Collaborative Perception Localization And Mapping For Autonomous Systems
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Author : Yufeng Yue
language : en
Publisher: Springer Nature
Release Date : 2020-11-13
Collaborative Perception Localization And Mapping For Autonomous Systems written by Yufeng Yue and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-13 with Technology & Engineering categories.
This book presents the breakthrough and cutting-edge progress for collaborative perception and mapping by proposing a novel framework of multimodal perception-relative localization–collaborative mapping for collaborative robot systems. The organization of the book allows the readers to analyze, model and design collaborative perception technology for autonomous robots. It presents the basic foundation in the field of collaborative robot systems and the fundamental theory and technical guidelines for collaborative perception and mapping. The book significantly promotes the development of autonomous systems from individual intelligence to collaborative intelligence by providing extensive simulations and real experiments results in the different chapters. This book caters to engineers, graduate students and researchers in the fields of autonomous systems, robotics, computer vision and collaborative perception.
Fastslam
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Author : Michael Montemerlo
language : en
Publisher: Springer
Release Date : 2007-04-27
Fastslam written by Michael Montemerlo and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-04-27 with Technology & Engineering categories.
This monograph describes a new family of algorithms for the simultaneous localization and mapping (SLAM) problem in robotics, called FastSLAM. The FastSLAM-type algorithms have enabled robots to acquire maps of unprecedented size and accuracy, in a number of robot application domains and have been successfully applied in different dynamic environments, including a solution to the problem of people tracking.
Factor Graphs For Robot Perception
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Author : Frank Dellaert
language : en
Publisher:
Release Date : 2017-08-15
Factor Graphs For Robot Perception written by Frank Dellaert and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-08-15 with Technology & Engineering categories.
Reviews the use of factor graphs for the modeling and solving of large-scale inference problems in robotics. Factor graphs are introduced as an economical representation within which to formulate the different inference problems, setting the stage for the subsequent sections on practical methods to solve them.
Consumer Depth Cameras For Computer Vision
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Author : Andrea Fossati
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-10-03
Consumer Depth Cameras For Computer Vision written by Andrea Fossati 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 2012-10-03 with Computers categories.
The potential of consumer depth cameras extends well beyond entertainment and gaming, to real-world commercial applications. This authoritative text reviews the scope and impact of this rapidly growing field, describing the most promising Kinect-based research activities, discussing significant current challenges, and showcasing exciting applications. Features: presents contributions from an international selection of preeminent authorities in their fields, from both academic and corporate research; addresses the classic problem of multi-view geometry of how to correlate images from different viewpoints to simultaneously estimate camera poses and world points; examines human pose estimation using video-rate depth images for gaming, motion capture, 3D human body scans, and hand pose recognition for sign language parsing; provides a review of approaches to various recognition problems, including category and instance learning of objects, and human activity recognition; with a Foreword by Dr. Jamie Shotton.
Satellite Communications And Navigation Systems
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Author : Enrico Re
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-12-19
Satellite Communications And Navigation Systems written by Enrico Re 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 2007-12-19 with Technology & Engineering categories.
Satellite Communications and Navigation Systems publishes the proceedings of the 2006 Tyrrhenian International Workshop on Digital Communications. The book focuses on the integration of communication and navigation systems in satellites.
Robust Regression And Outlier Detection
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Author : Peter J. Rousseeuw
language : en
Publisher: John Wiley & Sons
Release Date : 2005-02-25
Robust Regression And Outlier Detection written by Peter J. Rousseeuw and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-02-25 with Mathematics categories.
WILEY-INTERSCIENCE PAPERBACK SERIES The Wiley-Interscience Paperback Series consists of selectedbooks that have been made more accessible to consumers in an effortto increase global appeal and general circulation. With these newunabridged softcover volumes, Wiley hopes to extend the lives ofthese works by making them available to future generations ofstatisticians, mathematicians, and scientists. "The writing style is clear and informal, and much of thediscussion is oriented to application. In short, the book is akeeper." –Mathematical Geology "I would highly recommend the addition of this book to thelibraries of both students and professionals. It is a usefultextbook for the graduate student, because it emphasizes both thephilosophy and practice of robustness in regression settings, andit provides excellent examples of precise, logical proofs oftheorems. . . .Even for those who are familiar with robustness, thebook will be a good reference because it consolidates the researchin high-breakdown affine equivariant estimators and includes anextensive bibliography in robust regression, outlier diagnostics,and related methods. The aim of this book, the authors tell us, is‘to make robust regression available for everyday statisticalpractice.’ Rousseeuw and Leroy have included all of thenecessary ingredients to make this happen." –Journal of the American Statistical Association
Understanding Gps
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Author : Elliott D. Kaplan
language : en
Publisher: Artech House Publishers
Release Date : 2006
Understanding Gps written by Elliott D. Kaplan and has been published by Artech House Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with Technology & Engineering categories.
Appendix B:Stability Measures for Frequency Sources 665Appendix C:Free-Space Propagation Loss 669; About the Authors 675; Index 683; Mobile Communications Library.