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Erschienen in:
Introduction Kapitel lesen Erstes Kapitel lesen

2018 | OriginalPaper | Buchkapitel

5. Active Pose SLAM

verfasst von : Rafael Valencia, Juan Andrade-Cetto

Erschienen in: Mapping, Planning and Exploration with Pose SLAM

Verlag: Springer International Publishing

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Abstract

This Chapter presents an active exploration strategy that complements Pose SLAM and the path planning approach shown in Chap. 4.

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Vorheriges Kapitel Path Planning in Belief Space with Pose SLAM
Nächstes Kapitel Conclusions
Fußnoten
1
With a slight abuse in notation, \(\mu _i\) refers here only to the x and y components of \(\mu _i\), and \({\varvec{\varSigma }}_{ii}\) to the marginal elements of \({\varvec{\varSigma }}_{ii}\), leaving the orientation terms out. The Jacobian \(\mathbf{H}_d\) is simply \(2 [(\mu _i-\mu _k)^{\!\top }, (\mu _k-\mu _i)^{\!\top }]\).
 
4
ATE implementation from the Rawseed Project (http://​www.​rawseeds.​org) was used.
 
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Metadaten
Titel
Active Pose SLAM
verfasst von
Rafael Valencia
Juan Andrade-Cetto
Copyright-Jahr
2018
Buch
Mapping, Planning and Exploration with Pose SLAM

Print ISBN: 978-3-319-60602-6

Electronic ISBN: 978-3-319-60603-3

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-60603-3_5

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