Timothy D. Barfoot - Böcker

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.

This bookcontains the proceedings of the 10th FSR, (Field and Service Robotics) which isthe leading single-track conference on applications of robotics in challengingenvironments. The 10th FSR was held in Toronto, Canada from 23-26June 2015.  The book contains 42full-length, peer-reviewed papers organized into a variety of topics:  Aquatic, Vision, Planetary, Aerial,Underground, and Systems.The goal ofthe book and the conference is to report and encourage the development andexperimental evaluation of field and service robots, and to generate a vibrantexchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate incomplex and dynamic environments:  on theground (Earth or other planets), under the ground, underwater, in the air or inspace.  Service robots are those thatwork closely with humans to help them with their lives.  The first FSR was held in Canberra,Australia, in1997.  Since that firstmeeting, FSR has been held roughly every two years, cycling through Asia,Americas, Europe.