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[资源] 【分享】Robotic Mapping and Exploration.Springer.2009

Robotic Mapping and Exploration_Springer Tracts in Advanced Robotics Volume 55
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Authors(Editors):
Cyrill Stachniss
Publisher: Springer
Pub Date: 2009
Pages: 203
ISBN 978-3-642-01096-5
e-ISBN 978-3-642-01097-2
DOI 10.1007/978-3-642-01097-2

Foreword
Simultaneous localization and mapping is a highly important and active area
in mobile robotics. The ability to autonomously build maps is widely regarded
as one of the fundamental preconditions for truly autonomous mobile
robots. In the past, the SLAM has mostly been addressed as a state estimation
problem and the incorporation of control into the map learning and
localization process is a highly interesting research question. In this book by
Cyrill Stachniss, the reader will find interesting and innovative solutions to
the problem of incorporating control into the SLAM problem. I know Cyrill
since over eight years and I still appreciate his enthusiasm in developing new
ideas and getting things done. He has been working with a large number
of different robots, participating in several public demonstrations, and has
gained a lot of experience which can also be seen from his large number of
papers presented at all major robotic conferences and in journals. His work
covers a variety of different topics. He has acquired several project grants and
received several awards. He furthermore is an associate editor of the IEEE
Transactions on Robotics. It’s safe to say that he is an expert in his field.
This book is a comprehensive introduction to state-of-the-art technology in
robotic exploration and map building. The reader will find a series of solutions
to challenging problems robots are faced with in the real world when they
need to acquire a model of their surroundings. The book focuses on autonomy
and thus the robot is not supposed to be joysticked though the world but
should be able to decide about his actions on its own. I regard the ability
to learn maps by making own decisions as a key competence for autonomous
robots. Cyrill rigorously applies probabilistic and decision-theoretic concepts
to systematically reducing the uncertainty in the belief of a robot about its
environment and its pose in the environment.
The book contains impressively demonstrates the capabilities of the described
solutions by showing results obtained from real robotic datasets.
A further strength lies in the sound and thorough evaluation of all presented
techniques going beyond the world of simulation. At this point, I
would like to encourage the reader to follow Cyrill’s example to take real
robots and data obtained with real robots to demonstrate that novel approaches
work in reality. For readers not in possession of particular sensors
or for comparison purposes, Cyrill and colleagues have created a Web site
(https://www.openslam.org/) in which the community can share implementations
of SLAM approaches and where the reader will find links to datasets
to support future research.
Freiburg, Germany
February 2009
Wolfram Burgard

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Robotic Mapping and Exploration_Springer Tracts in Advanced Robotics Volume 55.Cyrill Stachniss.Springer.2009
Robotic Mapping and Exploration_Springer Tracts in Advanced Robotics Volume 55.Cyrill Stachniss.Springer.2009
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