Content of Slam Book

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1、NewSlamBook Asmobilerobotsbecomemorecommoningeneralknowledgeandpractices,asopposedtosimplyinresearchlabs,thereisanincreasedneedfortheintroductionandmethodstoSimultaneousLocalizationandMapping(SLAM)anditstechniquesandconceptsrelatedtorobotics.  SimultaneousLocalizationandM

2、appingforMobileRobots:IntroductionandMethods investigatesthecomplexitiesofthetheoryofprobabilisticlocalizationandmappingofmobilerobotsaswellasprovidingthemostcurrentandconcretedevelopments.Thisreferencesourceaimstobeusefulforpractitioners,graduateandpostgraduatestudents,a

3、ndactiveresearchersalike.  SummaryofcontentsPartI:TheFoundationsofMobileRobotLocalizationandMappingCHAPTER1:IntroductionCHAPTER2:RoboticBasesCHAPTER3:ProbabilisticBasesCHAPTER4:StatisticalBasesPartII:MobileRobotLocalizationCHAPTER5:RobotMotionModelsCHAPTER6:SensorModelsCH

4、APTER7:MobileRobotLocalizationwithRecursiveBayesianFiltersPartIII:MappingtheEnvironmentofMobileRobotsCHAPTER8:MapsforMobileRobots:TypesandConstructionCHAPTER9:TheBayesianApproachtoSLAMCHAPTER10:AdvancedSLAMtechniquesAppendicesAPPENDIXI:CommonSE(2)andSE(3)GeometricOperatio

5、nsAPPENDIXII:ResamplingAlgorithmsAPPENDIXIII:GenerationofPseudo-RandomNumbersAPPENDIXIV:ManifoldMapsforSO(n)andSE(n)APPENDIXV:BasicCalculusandAlgebraConcepts  DetailedTableofContents AcknowledgmentsPartI:TheFoundationsofMobileRobotLocalizationandMappingCHAPTER1:Introducti

6、on1.1OVERVIEW1.2TAXONOMIESFORTHEPROBLEMSTheRepresentationofSpatialKnowledgeTheStructureandDynamicsoftheEnvironmentTheSensoryApparatusoftheRobotTheMotorApparatusoftheRobotThePreviousKnowledge1.3HISTORICALOVERVIEW1.4ORGANIZATIONOFTHEBOOKCHAPTER2:RoboticBases2.1INTRODUCTION2

7、.2TURNINGMACHINESINTOROBOTS:ACTUATORSLeggedRobotsFlyingRobotsSubmarineRobotsWheeledRobots2.3HOWDOESTHEWORLDLOOKTOAROBOT?SENSORS2.4PROPRIOCEPTIVESENSORS:INERTIALSENSORS2.5EXTEROCEPTIVESENSORS(I):CONTACTANDVERYSHORT-RANGESENSORS2.6EXTEROCEPTIVESENSORS(II):SINGLE-DIRECTIONRA

8、NGEFINDERSTriangulation-BasedProximitySensorsPulse-SignalTimeofFlight(P-ToF)Continuous-WaveTimeo