3D Robotic Mapping: The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom

✍ Scribed by Andreas Nüchter (auth.)

• Publisher: Springer-Verlag Berlin Heidelberg
• Year: 2009
• Tongue: English
• Leaves: 218
• Series: Springer Tracts in Advanced Robotics 52
• Edition: 1
• Category: Library

✦ Synopsis

The monograph written by Andreas Nüchter is focused on acquiring spatial models of physical environments through mobile robots. The robotic mapping problem is commonly referred to as SLAM (simultaneous localization and mapping). 3D maps are necessary to avoid collisions with complex obstacles and to self-localize in six degrees of freedom
(x-, y-, z-position, roll, yaw and pitch angle). New solutions to the 6D SLAM problem for 3D laser scans are proposed and a wide variety of applications are presented.

✦ Table of Contents

Front Matter....Pages -
Introduction....Pages 1-8
Perceiving 3D Range Data....Pages 9-28
State of the Art....Pages 29-34
3D Range Image Registration....Pages 35-76
Globally Consistent Range Image Registration....Pages 77-108
Experiments and Results....Pages 109-154
3D Maps with Semantics....Pages 155-172
Conclusions and Outlook....Pages 173-176
Back Matter....Pages -

✦ Subjects

Control , Robotics, Mechatronics; Artificial Intelligence (incl. Robotics); Systems Theory, Control