Random Finite Sets for Robot Mapping & SLAM: New Concepts in Autonomous Robotic Map Representations
Author:   John Stephen Mullane ,  Ba-Ngu Vo ,  Martin David Adams ,  Ba-Tuong Vo
Publisher:   Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
Edition:   2011 ed.
Volume:   72
ISBN:  

9783642268311


Pages:   148
Publication Date:   15 July 2013
Format:   Paperback
Availability:   Manufactured on demand   Availability explained
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Random Finite Sets for Robot Mapping & SLAM: New Concepts in Autonomous Robotic Map Representations


Overview

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.

Full Product Details

Author:   John Stephen Mullane ,  Ba-Ngu Vo ,  Martin David Adams ,  Ba-Tuong Vo
Publisher:   Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
Imprint:   Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Edition:   2011 ed.
Volume:   72
Dimensions:   Width: 15.50cm , Height: 1.00cm , Length: 23.50cm
Weight:   0.273kg
ISBN:  

9783642268311


ISBN 10:   3642268315
Pages:   148
Publication Date:   15 July 2013
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand   Availability explained
We will order this item for you from a manufactured on demand supplier.

Table of Contents

Part I Random Finite Sets.- Why Random Finite Sets?.- Estimation with Random Finite Sets.- Part II Random Finite Set Based Robotic Mapping.- An RFS Theoretic for Bayesian Feature-Based Robotic Mapping.- An RFS ‘Brute Force’ Formulation for Bayesian SLAM.- Rao-Blackwellised RFS Bayesian SLAM.- Extensions with RFSs in SLAM.

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