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

by Andreas Nüchter

Overview

Focuses 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

Product Details

ISBN-13:	9783642100581
Publisher:	Springer Berlin Heidelberg
Publication date:	12/15/2010
Series:	Springer Tracts in Advanced Robotics , #52
Edition description:	Softcover reprint of hardcover 1st ed. 2009
Pages:	204
Product dimensions:	6.10(w) x 9.25(h) x 0.02(d)

Table of Contents

Perceiving 3D Range Data.- State of the Art.- 3D Range Image Registration.- Globally Consistent Range Image Registration.- Experiments and Results.- 3D Maps with Semantics.- Conclusions and Outlook.

Editorial Reviews

From the reviews:

“The book 3D Robotic Mapping by Andreas Nüchter represents an excellent reference for any roboticist working in the area of Simultaneous Localization and Mapping, especially those interested in 3D map building. … The book’s intended target audience is large, ranging from undergraduate students to postdoctoral researchers keen on learning or working on this topic. … I strongly recommend this book as a good introduction and reference material for 3D perception and mapping with mobile robots.”­­­ (Radu Bogdan Rusu, Künstliche Intelligenz, Vol. 24, June, 2010)

From the Publisher