Environment Learning for Indoor Mobile Robots : A Stochastic State Estimation Approach to Simultaneous Localization and Map Building
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.
كتب مشابهة
Hotel building in Damascus city
Show a hotel building in Damascus. The project is a facility consisting of one basement use as a storage rooms and shelter, and ground story and twelve story.
A structural study and study of the site of Al-Rahma hospital - Deir Ez-Zour
Presents the structural study and design of Al-Rahma Hospital, located in Deir Ez-Zour, Al-Kanamat area near the Euphrates River. The hospital includes two basement levels and ten floors above ground. The basements house medical imaging rooms, storage spaces, and a shelter.
Introduction to finite element analysis : A textbook for engineering students
Covers the basic concepts and applications of finite element analysis. It is specifically aimed at introducing this advanced topic to undergraduate-level engineering students and practicing engineers in a lucid manner. It also introduces a structural and heat transfer analysis software FEASTSMT which has wide applications in civil, mechanical, nuclear and automobile engineering domains.
Fundamentals of durable reinforced concrete
The book presents a framework for specification through internationally adopted codes and standards and summarises the background to probabilistic approaches to durability design, providing a state-of-the-art review of mathematical modelling of deterioration mechanisms along with current directions in test methods for performance-based specifications.
