3D Robotic Mapping [electronic resource] : The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom / by Andreas Nüchter.Material type: TextLanguage: English Series: Springer Tracts in Advanced Robotics: 52Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg, 2009Description: XIX, 204 p. online resourceContent type: text Media type: computer Carrier type: online resourceISBN: 9783540898849Subject(s): Engineering | Artificial intelligence | Systems theory | Control engineering systems | Engineering | Control , Robotics, Mechatronics | Artificial Intelligence (incl. Robotics) | Systems Theory, ControlAdditional physical formats: Printed edition:: No titleDDC classification: 629.8 LOC classification: TJ210.2-211.495TJ163.12Online resources: Click here to access online
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.
The monograph written by Andreas Nüchter 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.