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Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localization, Niko S?nderhauf


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Автор: Niko S?nderhauf   (Нико Зюндерхауф)
Название:  Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localization   (Нико Зюндерхауф: Переключаемые ограничения для надежной одновременной локализации и картографировани)
Издательство: Springer
Классификация:
ISBN: 3031240154
ISBN-13(EAN): 9783031240157
Обложка/Формат: Hardback
Страницы: 184
Вес: 0.507 кг.
Дата издания: 08.04.2023
Серия: Springer tracts in advanced robotics
Издание: 1st ed. 2023
Иллюстрации: 76 illustrations, color; 5 illustrations, black and white; xiv, 184 p. 81 illus., 76 illus. in color.
Размер: 235 x 155
Читательская аудитория: Professional & vocational
Рейтинг:
Поставляется из: Германии
Описание: Simultaneous Localization and Mapping (SLAM) has been a long-standing research problem in robotics. It describes the problem of a robot mapping an unknown environment, while simultaneously localizing in it with the help of the incomplete map. This book describes a technique called Switchable Constraints.Switchable Constraints help to increase the robustness of SLAM against data association errors and in particular against false positive loop closure detections.

Such false positive loop closure detections can occur when the robot erroneously assumes it re-observed a landmark it has already mapped or when the appearance of the observed surroundings is very similar to the appearance of other places in the map. Ambiguous observations and appearances are very common in human-made environments such as office floors or suburban streets, making robustness against spurious observations a key challenge in SLAM. The book summarizes the foundations of factor graph-based SLAM techniques.

It explains the problem of data association errors before introducing the novel idea of Switchable Constraints. We present a mathematical derivation and probabilistic interpretation of Switchable Constraints along with evaluations on different datasets. The book shows that Switchable Constraints are applicable beyond SLAM problems and demonstrates the efficacy of this technique to improve the quality of satellite-based localization in urban environments, where multipath and non-line-of-sight situations are common error sources.



Large-Scale Visual Geo-Localization

Автор: Amir R. Zamir et al
Название: Large-Scale Visual Geo-Localization
ISBN: 331925779X ISBN-13(EAN): 9783319257792
Издательство: Springer
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Цена: 83850 T
Наличие на складе: Нет в наличии.
Описание: Thistimely and authoritative volume explores the bidirectional relationship betweenimages and locations. The text presents a comprehensive review of the state ofthe art in large-scale visual geo-localization, and discusses the emergingtrends in this area. Valuable insights are supplied by a pre-eminent selectionof experts in the field, into a varied range of real-world applications ofgeo-localization. Topics and features: discusses the latest methods to exploitinternet-scale image databases for devising geographically rich features andgeo-localizing query images at different scales; investigates geo-localizationtechniques that are built upon high-level and semantic cues; describes methodsthat perform precise localization by geometrically aligning the query imageagainst a 3D model; reviews techniques that accomplish image understandingassisted by the geo-location, as well as several approaches for geo-localizationunder practical, real-world settings.

Large-Scale Simultaneous Localization and Mapping

Автор: Janusz Bedkowski
Название: Large-Scale Simultaneous Localization and Mapping
ISBN: 9811919712 ISBN-13(EAN): 9789811919718
Издательство: Springer
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Цена: 97820 T
Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book is dedicated for engineers and researchers who would like to increase the knowledge in area of mobile mapping systems.

Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods

Автор: Juan-Antonio Fernandez-Madrigal, Jose Luis Blanco Claraco
Название: Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods
ISBN: 1466621044 ISBN-13(EAN): 9781466621046
Издательство: Eurospan
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Цена: 153910 T
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Описание: Investigates the complexities of the theory of probabilistic localisation and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.

Simultaneous Localization And Mapping: Exactly Sparse Information Filters

Автор: Wang Zhan Et Al
Название: Simultaneous Localization And Mapping: Exactly Sparse Information Filters
ISBN: 9814350311 ISBN-13(EAN): 9789814350310
Издательство: World Scientific Publishing
Рейтинг:
Цена: 64150 T
Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: 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 deals with computationally efficient solutions to the large scale SLAM problems using exactly sparse Extended Information Filters (EIF).

3D Robotic Mapping

Автор: Andreas N?chter
Название: 3D Robotic Mapping
ISBN: 3642100589 ISBN-13(EAN): 9783642100581
Издательство: Springer
Рейтинг:
Цена: 97950 T
Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This thorough treatment of 3D robotic mapping focuses on acquiring spatial models of physical environments through mobile robots. In it, new solutions to the 6D SLAM problem for 3D laser scans are proposed and a wide variety of applications are presented.

Large-Scale Simultaneous Localization and Mapping

Автор: B?dkowski
Название: Large-Scale Simultaneous Localization and Mapping
ISBN: 9811919747 ISBN-13(EAN): 9789811919749
Издательство: Springer
Рейтинг:
Цена: 97820 T
Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: 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++ implementations that 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.

Machine Learning-Based Natural Scene Recognition for Mobile Robot Localization in an Unknown Environment

Автор: Wang Xiaochun, Wang Xiali, Wilkes Don Mitchell
Название: Machine Learning-Based Natural Scene Recognition for Mobile Robot Localization in an Unknown Environment
ISBN: 9811392196 ISBN-13(EAN): 9789811392191
Издательство: Springer
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Цена: 69870 T
Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book advances research on mobile robot localization in unknown environments by focusing on machine-learning-based natural scene recognition.

Visual Perception for Humanoid Robots

Автор: David Israel Gonz?lez Aguirre
Название: Visual Perception for Humanoid Robots
ISBN: 3030074153 ISBN-13(EAN): 9783030074159
Издательство: Springer
Рейтинг:
Цена: 97820 T
Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topics in depth: • Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing. • Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks. • Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system.The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.

Environment Learning for Indoor Mobile Robots

Автор: Juan Andrade Cetto; Alberto Sanfeliu
Название: Environment Learning for Indoor Mobile Robots
ISBN: 3642069312 ISBN-13(EAN): 9783642069314
Издательство: Springer
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Цена: 84890 T
Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM.

In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands

Автор: Pfanne
Название: In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands
ISBN: 3031069668 ISBN-13(EAN): 9783031069666
Издательство: Springer
Рейтинг:
Цена: 83850 T
Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.

Collaborative Perception, Localization and Mapping for Autonomous Systems

Автор: Yue Yufeng, Wang Danwei
Название: Collaborative Perception, Localization and Mapping for Autonomous Systems
ISBN: 9811588627 ISBN-13(EAN): 9789811588624
Издательство: Springer
Рейтинг:
Цена: 164580 T
Наличие на складе: Нет в наличии.
Описание: This book presents the breakthrough and cutting-edge progress for collaborative perception and mapping by proposing a novel framework of multimodal perception-relative localization-collaborative mapping for collaborative robot systems.

Collaborative Perception, Localization and Mapping for Autonomous Systems

Автор: Yue Yufeng, Wang Danwei
Название: Collaborative Perception, Localization and Mapping for Autonomous Systems
ISBN: 9811588597 ISBN-13(EAN): 9789811588594
Издательство: Springer
Цена: 83850 T
Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book presents the breakthrough and cutting-edge progress for collaborative perception and mapping by proposing a novel framework of multimodal perception-relative localization-collaborative mapping for collaborative robot systems.


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