Switchable constraints for robust simultaneous localization and mapping and satellite-based localization / Niko Sünderhauf.
Sünderhauf, Niko, author.
2023
TJ211.3 .S86 2023
Available Online

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Title Switchable constraints for robust simultaneous localization and mapping and satellite-based localization / Niko Sünderhauf.
Author Sünderhauf, Niko, author.
ISBN 9783031240171 electronic book
3031240170 electronic book
9783031240157
3031240154
DOI https://doi.org/10.1007/978-3-031-24017-1
Published Cham, Switzerland : Springer, 2023.
Language English
Description 1 online resource (184 pages) : illustrations (black and white, and color).
Other Standard Identifiers 10.1007/978-3-031-24017-1 doi
Call Number TJ211.3 .S86 2023
Dewey Decimal Classification 629.8/92637
Summary Simultaneous Localization and Mapping (SLAM) has been a long-standing research problem in robotics. It describes the problem of a robot mapping an unknown environment, while simultaneously localizing in it with the help of the incomplete map. This book describes a technique called Switchable Constraints. Switchable Constraints help to increase the robustness of SLAM against data association errors and in particular against false positive loop closure detections. Such false positive loop closure detections can occur when the robot erroneously assumes it re-observed a landmark it has already mapped or when the appearance of the observed surroundings is very similar to the appearance of other places in the map. Ambiguous observations and appearances are very common in human-made environments such as office floors or suburban streets, making robustness against spurious observations a key challenge in SLAM. The book summarizes the foundations of factor graph-based SLAM techniques. It explains the problem of data association errors before introducing the novel idea of Switchable Constraints. We present a mathematical derivation and probabilistic interpretation of Switchable Constraints along with evaluations on different datasets. The book shows that Switchable Constraints are applicable beyond SLAM problems and demonstrates the efficacy of this technique to improve the quality of satellite-based localization in urban environments, where multipath and non-line-of-sight situations are common error sources.
Bibliography, etc. Note Includes bibliographical references.
Access Note Access limited to authorized users.
Source of Description Description based on print version record.
Series Springer tracts in advanced robotics ; v. 137.
Available in Other Form Switchable constraints for robust simultaneous localization and mapping and satellite-based localization.
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All Resources
Simultaneous Localization And Mapping
Least Squares Optimization
Motivation - When Optimization Fails
A Robust Back-End for SLAM
Evaluation.

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