Springer Tracts in Advanced Robotics

Environment Learning for Indoor Mobile Robots

A Stochastic State Estimation Approach to Simultaneous Localization and Map Building

Authors: Andrade Cetto, Juan, Sanfeliu, Alberto

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About this book

This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots, such as 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. The authors show that the typical approach to SLAM using a Kalman filter results in marginal filter stability, making the final reconstruction estimates dependant on the initial vehicle estimates. However, by anchoring the map to a fixed landmark in the scene, they are able to attain full observability in SLAM, with reduced covariance estimates. This result earned the first author the EURON Georges Giralt Best PhD Award in its fourth edition, and has prompted the SLAM community to think in new ways to approach the mapping problem. For example, by creating local maps anchored on a landmark, or on the robot initial estimate itself, and then using geometric relations to fuse local maps globally. This monograph is appropriate as a text for an introductory estimation-theoretic approach to the SLAM problem, and as a reference book for people who work in mobile robotics research in general.

Juan Andrade Cetto holds a BSEE degree from CETYS University, 1993; an MSEE degree from Purdue University, 1995; and a doctorate from the Technical University of Catalonia, 2003. He is currently with the Institut the Robòtica i Informàtica Industrial, CSIC-UPC.

Alberto Sanfeliu received the BSEE and PhD degrees from the Technical University of Catalonia in 1978 and 1982, respectively. He joined the UPC faculty in 1981, and is since 1984, Professor with the Systems Engineering Department, for which he was appointed Head in 2005. Dr.

Sanfeliu is also affiliated to the Institut the Robòtica i Informàtica Industrial, CSIC-UPC. His current research areas are Pattern Recognition, Computer Vision, and Robotics. He is Fellow of IAPR.

Table of contents (8 chapters)

Table of contents (8 chapters)

Buy this book

eBook $129.00
price for USA in USD (gross)
  • The eBook version of this title will be available soon
  • ISBN 978-3-540-32848-3
  • Digitally watermarked, DRM-free
  • Included format:
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $179.99
price for USA in USD
  • ISBN 978-3-540-32795-0
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $169.99
price for USA in USD
  • ISBN 978-3-642-06931-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Environment Learning for Indoor Mobile Robots
Book Subtitle
A Stochastic State Estimation Approach to Simultaneous Localization and Map Building
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
23
Copyright
2006
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-540-32848-3
DOI
10.1007/11418382
Hardcover ISBN
978-3-540-32795-0
Softcover ISBN
978-3-642-06931-4
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XVI, 136
Topics