{"product_id":"multiple-integrated-navigation-sensors-for-christopher-p-weyers-9781288307203","title":"Multiple Integrated Navigation Sensors for Improved Occupancy Grid Fastslam","description":"\u003cbr\u003e An autonomous vehicle must accurately observe its location within the environment to interact with objects andaccomplish its mission. When its environment is unknown, the vehicle must construct a map detailing its surroundingswhile using it to maintain an accurate location. Such a vehicle is faced with the circularly defined SimultaneousLocalization and Mapping (SLAM) problem. However difficult, SLAM is a critical component of autonomous vehicleexploration with applications to search and rescue. To current knowledge, this research presents the first SLAM solutionto integrate stereo cameras, inertial measurements, and vehicle odometry into a Multiple Integrated Navigation Sensor(MINS) path. The implementation combines the MINS path with LIDAR to observe and map the environment using theFastSLAM algorithm. In real-world tests, a mobile ground vehicle equipped with these sensors completed a 140 meterloop around indoor hallways. This SLAM solution produces a path that closes the loop and remains within 1 meter oftruth, reducing the error 92% from an image-inertial navigation system and 79% from odometry FastSLAM. \u003cbr\u003e\u003cbr\u003e\u003cbr\u003e\u003cb\u003eAuthor:\u003c\/b\u003e Christopher P. Weyers\u003cbr\u003e\u003cb\u003eISBN-10:\u003c\/b\u003e 1288307209\u003cbr\u003e\u003cb\u003eISBN-13:\u003c\/b\u003e 9781288307203\u003cbr\u003e\u003cb\u003ePublisher:\u003c\/b\u003e Biblioscholar\u003cbr\u003e\u003cb\u003eLanguage:\u003c\/b\u003e English\u003cbr\u003e\u003cb\u003ePublished:\u003c\/b\u003e 11\/16\/2012\u003cbr\u003e\u003cb\u003ePages:\u003c\/b\u003e 122\u003cbr\u003e\u003cb\u003eFormat:\u003c\/b\u003e Paperback\u003cbr\u003e\u003cb\u003eWeight:\u003c\/b\u003e 0.51lbs\u003cbr\u003e\u003cb\u003eSize:\u003c\/b\u003e 9.69h x 7.44w x 0.26d","brand":"Christopher P. Weyers","offers":[{"title":"Paperback","offer_id":47611337277695,"sku":"9781288307203","price":57.95,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0662\/2982\/9887\/files\/img_0ddd70c5-ef22-43a7-b880-e3871a65d2e5.jpg?v=1764513242","url":"https:\/\/www.whiterainbookhouse.com\/products\/multiple-integrated-navigation-sensors-for-christopher-p-weyers-9781288307203","provider":"WR Book House","version":"1.0","type":"link"}