TY - BOOK ID - 77942864 TI - Simultaneous localization and mapping : exactly sparse information filters AU - Wang, Zhan. AU - Huang, Shoudong AU - Dissanayake, Gamini. PY - 2011 SN - 1283433796 9786613433794 981435032X 9789814350327 9781283433792 9789814350310 9814350311 6613433799 PB - Singapore ; Hackensack, N.J. : World Scientific, DB - UniCat KW - Mobile robots. KW - Robots KW - Sparse matrices. KW - Robotics. KW - Mappings (Mathematics) KW - Maps (Mathematics) KW - Functions KW - Functions, Continuous KW - Topology KW - Transformations (Mathematics) KW - Automation KW - Machine theory KW - Spare matrix techniques KW - Matrices KW - Robot control KW - Robotics KW - Control systems. UR - http://www.unicat.be/uniCat?func=search&query=sysid:77942864 AB - Simultaneous localization and mapping (SLAM) is a process where an autonomous vehicle builds a map of an unknown environment while concurrently generating an estimate for its location. This book is concerned with computationally efficient solutions to the large scale SLAM problems using exactly sparse Extended Information Filters (EIF). The invaluable book also provides a comprehensive theoretical analysis of the properties of the information matrix in EIF-based algorithms for SLAM. Three exactly sparse information filters for SLAM are described in detail, together with two efficient and exact methods for recovering the state vector and the covariance matrix. Proposed algorithms are extensively evaluated both in simulation and through experiments. ER -