Large-scale simultaneous localization and mapping/ Janusz Be̜dkowski.
Be̜dkowski, Janusz, author.
2022
G70.212
Available Online

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Title
Large-scale simultaneous localization and mapping/ Janusz Be̜dkowski.
Author
Be̜dkowski, Janusz, author.
ISBN
9789811919725 (electronic bk.)
9811919720 (electronic bk.)
9789811919718
9811919712
DOI
https://doi.org/10.1007/978-981-19-1972-5
Publication Details
Singapore : Springer, 2022.
Language
English
Description
1 online resource (315 pages)
Item Number
10.1007/978-981-19-1972-5 doi
Call Number
G70.212
Dewey Decimal Classification
910.285
Summary
This book is dedicated for engineers and researchers who would like to increase the knowledge in area of mobile mapping systems. Therefore, the flow of the derived information is divided into subproblems corresponding to certain mobile mapping data and related observations equations. The proposed methodology is not fulfilling all SLAM aspects evident in the literature, but it is based on the experience within the context of the pragmatic and realistic applications. Thus, it can be supportive information for those who are familiar with SLAM and would like to have broader overview in the subject. The novelty is a complete and interdisciplinary methodology for large-scale mobile mapping applications. The contribution is a set of programming examples available as supportive complementary material for this book. All observation equations are implemented, and for each, the programming example is provided. The programming examples are simple C++ implementations that can be elaborated by students or engineers; therefore, the experience in coding is not mandatory. Moreover, since the implementation does not require many additional external programming libraries, it can be easily integrated with any mobile mapping framework. Finally, the purpose of this book is to collect all necessary observation equations and solvers to build computational system capable providing large-scale maps.
Bibliography, etc. Note
Includes bibliographical references.
Access Note
Access limited to authorized users.
Source of Description
Online resource; title from PDF title page (SpringerLink, viewed June 28, 2022).
Series
Cognitive Intelligence and Robotics.
Available in Other Form
Large-Scale Simultaneous Localization and Mapping
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Chapter 1. Introduction
Chapter 2. Terminology
Chapter 3. Weighted Non Linear Least Square Optimization
Chapter 4. Coordinate Systems
Chapter 5. Mobile mapping data
Chapter 6. Mobile Mapping Systems
Chapter 7. Ground truth data sources
Chapter 8. Trajectory estimation
Chapter 9. Nearest observations search
Chapter 10. Camera metrics
Chapter 11. LiDAR metrics
Chapter 12. Constraints
Chapter 13. Metrics fusion
Chapter 14. Building large scale SLAM optimization
Chapter 15. Loop closing and change detection
Chapter 16. Final map qualitative and quantitative evaluation.

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