3D Robotic Mapping: The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom | Date: 04 May 2011, 08:03
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About this book
The monograph written by Andreas Nuchter is focused 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.
Written for:
Researchers, graduate students, and professionals in robotics, computer vision,and multimedia
Keywords:
* 3D Laser Scanning
* Robot Vision
* Robotic Cameras
* Scan Registration
* Simultaneous Localization and Mapping (SLAM)
Introduction:
By the dawn of the new millennium, robotics has undergone a major transformation
in scope and dimensions. This expansion has been brought about
by the maturity of the field and the advances in its related technologies. From
a largely dominant industrial focus, robotics has been rapidly expanding into
the challenges of the human world. The new generation of robots is expected
to safely and dependably co-habitat with humans in homes, workplaces, and
communities, providing support in services, entertainment, education, healthcare,
manufacturing, and assistance.
Beyond its impact on physical robots, the body of knowledge robotics has
produced is revealing a much wider range of applications reaching across diverse
research areas and scientific disciplines, such as: biomechanics, haptics,
neurosciences, virtual simulation, animation, surgery, and sensor networks
among others. In return, the challenges of the new emerging areas are proving
an abundant source of stimulation and insights for the field of robotics.
It is indeed at the intersection of disciplines that the most striking advances
happen.
The goal of the series of Springer Tracts in Advanced Robotics (STAR)
is to bring, in a timely fashion, the latest advances and developments in
robotics on the basis of their significance and quality. It is our hope that the
wider dissemination of research developments will stimulate more exchanges
and collaborations among the research community and contribute to further
advancement of this rapidly growing field.
The monograph written by Andreas Nuchter is yet another title in the
series belonging to the fertile research area of self-localization and mapping
(SLAM) for mobile robots. The main contribution of the work is certainly
in the derivation of SLAM algorithms for building 3D maps, as opposed to
the majority of existing algorithms for 2D maps. When tackling the problem
for a 3D geometry, all six degrees of freedom are considered to reconstruct
the robot pose. Results span from theory through a rich set of experiments,
revealing a promising outlook toward benchmarking SLAM robot maps in a
wide range of applications.
Expanded from the author’s doctoral dissertation (finalist for the Seventh
Edition of the EURON Georges Giralt PhD Award) and overall eight years of
research and teaching on SLAM, this volume constitutes a very fine addition
to STAR!
Naples, Italy, Bruno Siciliano
August 2008 STAR Editor
# Hardcover: 204 pages
# Publisher: Springer; 1 edition (February 1, 2009)
# Language: English
# ISBN-10: 3540898832
# ISBN-13: 978-3540898832
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