Simultaneous Localization And Mapping: Exactly Sparse Information Filters
eBook - PDF

Simultaneous Localization And Mapping: Exactly Sparse Information Filters

Exactly Sparse Information Filters

  1. 208 pages
  2. English
  3. PDF
  4. Available on iOS & Android
eBook - PDF

Simultaneous Localization And Mapping: Exactly Sparse Information Filters

Exactly Sparse Information Filters

About this book

Simultaneous localization and mapping (SLAM) is a process where an autonomous vehicle builds a map of an unknown environment while concurrently generating an estimate for its location. This book is concerned with computationally efficient solutions to the large scale SLAM problems using exactly sparse Extended Information Filters (EIF).The invaluable book also provides a comprehensive theoretical analysis of the properties of the information matrix in EIF-based algorithms for SLAM. Three exactly sparse information filters for SLAM are described in detail, together with two efficient and exact methods for recovering the state vector and the covariance matrix. Proposed algorithms are extensively evaluated both in simulation and through experiments.

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Yes, you can access Simultaneous Localization And Mapping: Exactly Sparse Information Filters by Zhan Wang, Shoudong Huang, Gamini Dissanayake in PDF and/or ePUB format, as well as other popular books in Biological Sciences & Science General. We have over one million books available in our catalogue for you to explore.

Table of contents

  1. Contents
  2. Preface
  3. Acknowledgments
  4. Chapter 1 Introduction
  5. Chapter 2 Sparse Information Filters in SLAM
  6. Chapter 3 Decoupling Localization and Mapping
  7. Chapter 4 D-SLAM Local Map Joining Filter
  8. Chapter 5 Sparse Local Submap Joining Filter
  9. Appendix A Proofs of EKF SLAM Convergence and Consistency
  10. Appendix B Incremental Method for Cholesky Factorization of SLAM Information Matrix
  11. Bibliography