Free DownloadSwitchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localization
English | 2023 | ISBN: 3031240154 | 323 Pages | PDF EPUB (True) | 47 MB
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.
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Heidi Barnes Heller, "Small Animal Neuroanatomic Lesion Localization Practice Book" English | ISBN: 1789247926 | 2022 | 224 pages | PDF | 4 MB Neuroanatomic lesion localization – detecting where a neurologic problem arises – is key when presented with a dog or cat with signs of neurologic disease. The correct neuroanatomic lesion localization will drive veterinarians towards an appropriate list of differential diagnoses and help lead the client towards applicable diagnostic investigation. Neuroanatomic lesion localization is the first step when managing any pet with signs of neurologic disease. Despite its importance, it remains a challenge for veterinary students, residents, and practitioners in their daily practice.
Velocity-Free Localization Methodology for Acoustic and Microseismic Sources English | 2023 | ISBN: 9811986096 | 505 Pages | PDF EPUB (True) | 114 MB In this book, we proposed velocity-free localization methods for acoustic and microseismic sources. This method does not require predetermination of wave velocity, which is a dynamically adjusted free real-time parameter. These methods solve the problem of large localization error caused by the difference between measured wave velocity and actual wave velocity in the source area and greatly improve the positioning accuracy.
Wireless Localization Techniques English | 2023 | ISBN: 3031211774 | 651 Pages | PDF EPUB (True) | 66 MB This book first presents a systematic theoretical study of wireless localization techniques. Then, guided by the theoretical results, the authors provide design approaches for improving the performance of localization systems and making the deployment of the systems more convenient. The book aims to address the following issues: how reliable the wireless localization system can be; how the system can scale up with the number of users to be served; how to make key design decisions in implementing the system; and how to mitigate human efforts in deploying the wireless localization system. The book is relevant for researchers, academics, and students interested in wireless localization technology.