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Large-Scale Simultaneous Localization and Mapping

  • Book
  • © 2022

Overview

Authors:
  1. Janusz Będkowski

    1. Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw, Poland

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  • Provides all necessary observation equations for LiDAR, camera, motion model, and other constraints
  • Gives programming examples for all observation equations
  • Presents complementary methodology for large-scale mapping

Part of the book series: Cognitive Intelligence and Robotics (CIR)

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Table of contents (12 chapters)

  1. Front Matter

    Pages i-xviii
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  2. Introduction

    1. Front Matter

      Pages 1-1
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    2. Introduction

      • Janusz BÄ™dkowski
      Pages 3-12

    3. Mobile Mapping Systems

      • Janusz BÄ™dkowski
      Pages 13-27

  3. Methodology

    1. Front Matter

      Pages 29-29
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    2. Coordinate Systems

      • Janusz BÄ™dkowski
      Pages 31-40

    3. Simultaneous Localization and Mapping

      • Janusz BÄ™dkowski
      Pages 41-94

    4. Trajectory Estimation

      • Janusz BÄ™dkowski
      Pages 95-117

    5. Errors

      • Janusz BÄ™dkowski
      Pages 119-137

  4. Observation Equations

    1. Front Matter

      Pages 139-139
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    2. Camera Metrics

      • Janusz BÄ™dkowski
      Pages 141-169

    3. LiDAR Metrics

      • Janusz BÄ™dkowski
      Pages 171-229

    4. Constraints

      • Janusz BÄ™dkowski
      Pages 231-266

    5. Metrics’ Fusion

      • Janusz BÄ™dkowski
      Pages 267-275

  5. Applications

    1. Front Matter

      Pages 277-277
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    2. Building Large-Scale SLAM

      • Janusz BÄ™dkowski
      Pages 279-290

    3. Final Map Qualitative and Quantitative Evaluation

      • Janusz BÄ™dkowski
      Pages 291-304

  6. Back Matter

    Pages 305-308
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Keywords

About this book

This book is dedicated for engineers and researchers who would like to increase the knowledge in area of mobile mapping systems. Therefore, the flow of the derived information is divided into subproblems corresponding to certain mobile mapping data and related observations’ equations. The proposed methodology is not fulfilling all SLAM aspects evident in the literature, but it is based on the experience within the context of the pragmatic and realistic applications. Thus, it can be supportive information for those who are familiar with SLAM and would like to have broader overview in the subject.


The novelty is a complete and interdisciplinary methodology for large-scale mobile mapping applications. The contribution is a set of programming examples available as supportive complementary material for this book. All observation equations are implemented, and for each, the programming example is provided. The programming examples are simple C++ implementationsthat can be elaborated by students or engineers; therefore, the experience in coding is not mandatory.


Moreover, since the implementation does not require many additional external programming libraries, it can be easily integrated with any mobile mapping framework. Finally, the purpose of this book is to collect all necessary observation equations and solvers to build computational system capable providing large-scale maps.

Authors and Affiliations

  • Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw, Poland

    Janusz Będkowski

About the author

Janusz Będkowski is D.Sc. and Ph.D. in mobile robotics. He is a researcher at Polish Academy of Science, Polish Academy of Science, Institute of Fundamental Technological Research, and engineer in TomTom International BV. He is actively working on the theoretical and practical aspects of simultaneous localization and mapping applications assuming global scale. Recently, he is working on the methodology of fulfilling the gap between geodesy and cartography, geo science and mobile robotics. He is active member of European Land Robotic Trial (ELROB) and the European Robotics Hackathon (ENRICH).

Bibliographic Information

  • Book Title: Large-Scale Simultaneous Localization and Mapping

  • Authors: Janusz BÄ™dkowski

  • Series Title: Cognitive Intelligence and Robotics

  • DOI: https://doi.org/10.1007/978-981-19-1972-5

  • Publisher: Springer Singapore

  • eBook Packages: Computer Science, Computer Science (R0)

  • Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2022

  • Hardcover ISBN: 978-981-19-1971-8Published: 14 June 2022

  • Softcover ISBN: 978-981-19-1974-9Published: 15 June 2023

  • eBook ISBN: 978-981-19-1972-5Published: 13 June 2022

  • Series ISSN: 2520-1956

  • Series E-ISSN: 2520-1964

  • Edition Number: 1

  • Number of Pages: XVIII, 308

  • Number of Illustrations: 30 b/w illustrations, 174 illustrations in colour

  • Topics: Robotics, Mathematical Applications in Computer Science, Image Processing and Computer Vision

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