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  3. State Estimation for Robotics
  • Cited by 86
      • 2nd edition
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    • Publisher:
      Cambridge University Press
      Publication date:
      January 2024
      February 2024
      ISBN:
      9781009299909
      9781009299893
      DOI:
      https://doi.org/10.1017/9781009299909
      Dimensions:
      (244 x 170 mm)
      Weight & Pages:
      1.174kg, 530 Pages
      Dimensions:
      Weight & Pages:
      • Subjects:
      Engineering, Engineering Design, Kinematics, and Robotics, Computer Science, Computer Graphics, Image Processing and Robotics
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    Subjects:
    Engineering, Engineering Design, Kinematics, and Robotics, Computer Science, Computer Graphics, Image Processing and Robotics
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    Book description

    A key aspect of robotics today is estimating the state (e.g., position and orientation) of a robot, based on noisy sensor data. This book targets students and practitioners of robotics by presenting classical state estimation methods (e.g., the Kalman filter) but also important modern topics such as batch estimation, Bayes filter, sigmapoint and particle filters, robust estimation for outlier rejection, and continuous-time trajectory estimation and its connection to Gaussian-process regression. Since most robots operate in a three-dimensional world, common sensor models (e.g., camera, laser rangefinder) are provided followed by practical advice on how to carry out state estimation for rotational state variables. The book covers robotic applications such as point-cloud alignment, pose-graph relaxation, bundle adjustment, and simultaneous localization and mapping. Highlights of this expanded second edition include a new chapter on variational inference, a new section on inertial navigation, more introductory material on probability, and a primer on matrix calculus.

    Reviews

    ‘This book provides a timely, concise, and well-scoped introduction to state estimation for robotics. It complements existing textbooks by giving a balanced presentation of estimation theoretic and geometric tools and discusses how these tools can be used to solve common estimation problems arising in robotics. It also strikes an excellent balance between theory and motivating examples.'

    Luca Carlone Source: IEEE Control Systems Magazine

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