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  3. State Estimation for Robotics
  • Cited by 75
Publisher:
Cambridge University Press
Online publication date:
January 2024
Print publication year:
2024
Online ISBN:
9781009299909
DOI:
https://doi.org/10.1017/9781009299909
Subjects:
Engineering, Engineering Design, Kinematics, and Robotics, Computer Science, Computer Graphics, Image Processing and Robotics
Information

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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