State Estimation for Robotics | Buch

Cover: 9781009299893 | State Estimation for Robotics | Timothy D. Barfoot | Buch | Englisch

Rückseite: 9781009299893 | State Estimation for Robotics | Timothy D. Barfoot | Buch | Englisch

Dekorationsartikel gehören nicht zum Leistungsumfang.

Sprache: Englisch

93,40 €

inkl. MwSt.

Versandkostenfrei per Post / DHL

Lieferzeit 1-2 Wochen

Kategorien:

Beschreibung

A key aspect of robotics today is estimating the state (e.g., position and orientation) of a robot, based on noisy sensor data. This book targets students and practitioners of robotics by presenting classical state estimation methods (e.g., the Kalman filter) but also important modern topics such as batch estimation, Bayes filter, sigmapoint and particle filters, robust estimation for outlier rejection, and continuous-time trajectory estimation and its connection to Gaussian-process regression. Since most robots operate in a three-dimensional world, common sensor models (e.g., camera, laser rangefinder) are provided followed by practical advice on how to carry out state estimation for rotational state variables. The book covers robotic applications such as point-cloud alignment, pose-graph relaxation, bundle adjustment, and simultaneous localization and mapping. Highlights of this expanded second edition include a new chapter on variational inference, a new section on inertial navigation, more introductory material on probability, and a primer on matrix calculus.

Über den Autor

Timothy D. Barfoot is a Professor at the University of Toronto Institute for Aerospace Studies. He has been conducting research in the area of navigation of mobile robotics for over 20 years, both in industry and academia, for applications including space exploration, mining, military, and transportation. He is a Fellow of the IEEE Robotics and Automation Society.

Inhaltsverzeichnis

Acronyms and abbreviations; Notation; Foreword to first edition; Foreword to second edition; 1. Introduction; Part I. Estimation Machinery: 2. Primer on probability theory; 3. Linear-Gaussian estimation; 4. Nonlinear non-Gaussian estimation; 5. Handling nonidealities in estimation; 6. Variational inference; Part II. Three-Dimensional Machinery: 7. Primer on three-dimensional geometry; 8. Matrix lie groups; Part III. Applications: 9. Pose estimation problems; 10. Pose-and-point estimation problems; 11. Continuous-time estimation; Appendix A: matrix primer; Appendix B: rotation and pose extras; Appendix C: miscellaneous extras; Appendix D: solutions to exercises; References; Index.

Erscheinungsjahr:	2023
Genre:	Importe , Informatik
Rubrik:	Naturwissenschaften & Technik
Medium:	Buch
ISBN-13:	9781009299893
ISBN-10:	1009299891
Sprache:	Englisch
Einband:	Gebunden
Autor:	Barfoot, Timothy D.
Hersteller:	Cambridge University Press
Verantwortliche Person für die EU:	Libri GmbH, Europaallee 1, D-36244 Bad Hersfeld, gpsr@libri.de
Maße:	260 x 183 x 33 mm
Von/Mit:	Timothy D. Barfoot
Erscheinungsdatum:	20.12.2023
Gewicht:	1,181 kg