System Theory

3D Robotic Mapping: The Simultaneous Localization and by Andreas Nüchter

By Andreas Nüchter

The monograph written by means of Andreas Nüchter is targeted on buying spatial versions of actual environments via cellular robots. The robot mapping challenge is often known as SLAM (simultaneous localization and mapping). 3D maps are essential to stay away from collisions with complicated hindrances and to self-localize in six levels of freedom
(x-, y-, z-position, roll, yaw and pitch angle). New recommendations to the 6D SLAM challenge for 3D laser scans are proposed and a wide selection of purposes are presented.

Show description

Read Online or Download 3D Robotic Mapping: The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom PDF

Similar system theory books

Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach

A finished therapy of model-based fuzzy regulate structures This quantity bargains complete insurance of the systematic framework for the soundness and layout of nonlinear fuzzy keep an eye on structures. construction at the Takagi-Sugeno fuzzy version, authors Tanaka and Wang deal with a couple of very important matters in fuzzy keep watch over structures, together with balance research, systematic layout methods, incorporation of functionality requirements, numerical implementations, and sensible functions.

Fuzzy Modeling and Fuzzy Control (Control Engineering)

Fuzzy common sense method has confirmed potent in facing complicated nonlinear structures containing uncertainties which are another way tough to version. know-how in line with this technique is acceptable to many real-world difficulties, in particular within the region of patron items. This e-book offers the 1st finished, unified therapy of fuzzy modeling and fuzzy keep an eye on, delivering instruments for the keep watch over of advanced nonlinear structures.

Modeling and Control of Discrete-Event Dynamic Systems: With Petri Nets and Other Tools

Discrete-event dynamic platforms (DEDs) permeate our global, being of serious value in glossy production methods, transportation and numerous different types of computing device and communications networking. Modeling and keep an eye on of Discrete-event Dynamic platforms starts off with the mathematical fundamentals required for the research of DEDs and strikes directly to current numerous instruments utilized in their modeling and keep watch over.

Ordinary Differential Equations and Mechanical Systems

This booklet applies a step by step therapy of the present state of the art of standard differential equations utilized in modeling of engineering systems/processes and past. It covers systematically ordered difficulties, starting with first and moment order ODEs, linear and higher-order ODEs of polynomial shape, idea and standards of similarity, modeling techniques, section airplane and section house strategies, balance optimization and finishing on chaos and synchronization.

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

Sample text

After a transformation some data points that did not have a closest point within this limit might have one and therefore the value of the error function might increase. Finally, the algorithm minimizes Eq. 1) and maximizes the number of corresponding points. 1 Direct Solutions of the ICP Error Function In every iteration the optimal transformation (R, t) for minimizing the error function E(R, t) in Eq. 1) has to be computed. There exist different strategies to find the minimum that can be divided into direct and indirect methods.

The epipoles are known the search for corresponding pixel can be reduced to the search along the epipolar line. Camera calibration. During camera calibration the extrinsic parameters of both cameras are determined. This gives the rotation and translation 22 2 Perceiving 3D Range Data Fig. 18 Rectified stereo images allow to search for corresponding points along horizontal lines. 15 right. (R, t) between the two cameras. These parameters allow the rectification of the images and simplify the correspondence problem: After rectification corresponding points must lie on the scan lines of the images.

Besides the intrinsic parameters there are extrinsic camera parameters, that represent the pose (position and orientation) of the 3D camera coordinate system with respect to a 3D world coordinate system. The extrinsic parameters are given by a rotation matrix R and a translation vector t. It holds: ⎛ w ⎞ ⎛ c ⎞ x x ⎜ ⎟ ⎜ cy ⎟ w R t ⎜ y ⎟ ⎟ ⎜ ⎜ w ⎟. 13) and the formulas given so far are applicable. This simplification does not regard aberrations that occur due to the use of lenses. , deviations from the ideal pinhole model, can be divided into two categories.

Download PDF sample

Rated 4.38 of 5 – based on 18 votes