3D Robotic Mapping
The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom
Authors: Nüchter, Andreas
Free Preview- Offers complete treatment of 3 dimensional robotic mapping
- Presents the Simultaneous Localization and Mapping Problem with Six Degrees of Freedom
- Presents the algorithms needed for automatic semantic 3D map building using a 3D laser range finder and the mobile robot Kurt3D
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- About this book
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The monograph written by Andreas Nüchter is focused 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. - Reviews
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From the reviews:
“The book 3D Robotic Mapping by Andreas Nüchter represents an excellent reference for any roboticist working in the area of Simultaneous Localization and Mapping, especially those interested in 3D map building. … The book’s intended target audience is large, ranging from undergraduate students to postdoctoral researchers keen on learning or working on this topic. … I strongly recommend this book as a good introduction and reference material for 3D perception and mapping with mobile robots.” (Radu Bogdan Rusu, Künstliche Intelligenz, Vol. 24, June, 2010)
- Table of contents (8 chapters)
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Introduction
Pages 1-8
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Perceiving 3D Range Data
Pages 9-28
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State of the Art
Pages 29-34
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3D Range Image Registration
Pages 35-76
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Globally Consistent Range Image Registration
Pages 77-108
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Table of contents (8 chapters)
- Download Preface 1 PDF (321.6 KB)
- Download Table of contents PDF (326 KB)
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Bibliographic Information
- Bibliographic Information
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- Book Title
- 3D Robotic Mapping
- Book Subtitle
- The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom
- Authors
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- Andreas Nüchter
- Series Title
- Springer Tracts in Advanced Robotics
- Series Volume
- 52
- Copyright
- 2009
- Publisher
- Springer-Verlag Berlin Heidelberg
- Copyright Holder
- Springer-Verlag Berlin Heidelberg
- eBook ISBN
- 978-3-540-89884-9
- DOI
- 10.1007/978-3-540-89884-9
- Hardcover ISBN
- 978-3-540-89883-2
- Softcover ISBN
- 978-3-642-10058-1
- Series ISSN
- 1610-7438
- Edition Number
- 1
- Number of Pages
- XIX, 204
- Topics
