Random Finite Sets for Robot Mapping and SLAM (Record no. 107970)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 03971nam a22005055i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-3-642-21390-8 |
| 003 - CONTROL NUMBER IDENTIFIER | |
| control field | DE-He213 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20140220083804.0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION | |
| fixed length control field | cr nn 008mamaa |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 110725s2011 gw | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| International Standard Book Number | 9783642213908 |
| -- | 978-3-642-21390-8 |
| 024 7# - OTHER STANDARD IDENTIFIER | |
| Standard number or code | 10.1007/978-3-642-21390-8 |
| Source of number or code | doi |
| 050 #4 - LIBRARY OF CONGRESS CALL NUMBER | |
| Classification number | TJ210.2-211.495 |
| 050 #4 - LIBRARY OF CONGRESS CALL NUMBER | |
| Classification number | T59.5 |
| 072 #7 - SUBJECT CATEGORY CODE | |
| Subject category code | TJFM1 |
| Source | bicssc |
| 072 #7 - SUBJECT CATEGORY CODE | |
| Subject category code | TEC037000 |
| Source | bisacsh |
| 072 #7 - SUBJECT CATEGORY CODE | |
| Subject category code | TEC004000 |
| Source | bisacsh |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER | |
| Classification number | 629.892 |
| Edition number | 23 |
| 100 1# - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Mullane, John. |
| Relator term | author. |
| 245 10 - TITLE STATEMENT | |
| Title | Random Finite Sets for Robot Mapping and SLAM |
| Medium | [electronic resource] : |
| Remainder of title | New Concepts in Autonomous Robotic Map Representations / |
| Statement of responsibility, etc | by John Mullane, Ba-Ngu Vo, Martin Adams, Ba-Tuong Vo. |
| 264 #1 - | |
| -- | Berlin, Heidelberg : |
| -- | Springer Berlin Heidelberg, |
| -- | 2011. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | XXIV, 148 p. |
| Other physical details | online resource. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 490 1# - SERIES STATEMENT | |
| Series statement | Springer Tracts in Advanced Robotics, |
| International Standard Serial Number | 1610-7438 ; |
| Volume number/sequential designation | 72 |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Formatted contents note | Part I Random Finite Sets -- Why Random Finite Sets? -- Estimation with Random Finite Sets -- Part II Random Finite Set Based Robotic Mapping -- An RFS Theoretic for Bayesian Feature-Based Robotic Mapping -- An RFS ‘Brute Force’ Formulation for Bayesian SLAM -- Rao-Blackwellised RFS Bayesian SLAM -- Extensions with RFSs in SLAM. |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | Simultaneous Localisation and Map (SLAM) building algorithms, which rely on random vectors to represent sensor measurements and feature maps are known to be extremely fragile in the presence of feature detection and data association uncertainty. Therefore new concepts for autonomous map representations are given in this book, based on random finite sets (RFSs). It will be shown that the RFS representation eliminates the necessity of fragile data association and map management routines. It fundamentally differs from vector based approaches since it estimates not only the spatial states of features but also the number of map features which have passed through the field(s) of view of a robot's sensor(s), an attribute which is necessary for SLAM. The book also demonstrates that in SLAM, a valid measure of map estimation error is critical. It will be shown that under an RFS-SLAM representation, a consistent metric, which gauges both feature number as well as spatial errors, can be defined. The concepts of RFS map representations are accompanied with autonomous SLAM experiments in urban and marine environments. Comparisons of RFS-SLAM with state of the art vector based methods are given, along with pseudo-code implementations of all the RFS techniques presented. John Mullane received the B.E.E. degree from University College Cork, Ireland, and Ph.D degree from Nanyang Technological University (NTU), Singapore. Ba-Ngu Vo is Winthrop Professor and Chair of Signal Processing, University of Western Australia (UWA). He received joint Bachelor degrees (Science and Elec. Eng.), UWA, and Ph.D., Curtin University. Martin Adams is Professor in autonomous robotics research, University of Chile. He holds bachelors, masters and doctoral degrees from Oxford University. Ba-Tuong Vo is Assistant Professor, UWA. He received his B.Sc, B.E and Ph.D. degrees from UWA. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Artificial intelligence. |
| 650 14 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Engineering. |
| 650 24 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Robotics and Automation. |
| 650 24 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Artificial Intelligence (incl. Robotics). |
| 700 1# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Vo, Ba-Ngu. |
| Relator term | author. |
| 700 1# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Adams, Martin. |
| Relator term | author. |
| 700 1# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Vo, Ba-Tuong. |
| Relator term | author. |
| 710 2# - ADDED ENTRY--CORPORATE NAME | |
| Corporate name or jurisdiction name as entry element | SpringerLink (Online service) |
| 773 0# - HOST ITEM ENTRY | |
| Title | Springer eBooks |
| 776 08 - ADDITIONAL PHYSICAL FORM ENTRY | |
| Display text | Printed edition: |
| International Standard Book Number | 9783642213892 |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE | |
| Uniform title | Springer Tracts in Advanced Robotics, |
| -- | 1610-7438 ; |
| Volume number/sequential designation | 72 |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | http://dx.doi.org/10.1007/978-3-642-21390-8 |
| 912 ## - | |
| -- | ZDB-2-ENG |
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