Titlebook: Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localiza; Niko Sünderhauf Book 2023 Springer N

AMASS

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Mets552

https://doi.org/10.1007/978-3-031-24017-13D SLAM; Footslam; Monte Carlo Localization; Non-Gaussian Error Characteristics; Robot Localization; Robo

和平主義

Introduction,In the beginning, robots were in the factories, assembling our cars. Now they are in our homes, vacuuming our floors.

daredevil

,Simultaneous Localization and?Mapping,The problem of simultaneous localization and mapping (SLAM) is an old problem in mobile robotics.

pericardium

Least Squares Optimization,The last chapter concluded with a nonlinear least squares formulation of the (full) SLAM problem and provided an intuitive analogy that helps to understand the general idea behind this formulation.

富饒

nonradioactive

Constant

Evaluation,The previous chapter proposed a novel approach for a robust back-end for graph-based SLAM systems. While the general feasibility was shown using a simple example, this chapter will provide a more elaborate evaluation and analysis of the performance of the proposed system.

Hemoptysis

SNEER

,Applications Beyond SLAM—Multipath Mitigation in?GNSS-Based Localization Problems Using the?Robust The previous chapters evaluated the proposed robust back-end in a variety of SLAM scenarios and demonstrated its feasibility.