layman to computer science

RTK定位模型研究与精度分析.pdf

This book provides a comprehensive overview of probabilistic algorithms for robotics. Probabilistic robotics is a new approach to robotics that pays tribute to the uncertainty in robot perception and action. They key idea of probabilistic robotics is to represent uncertainty explicitly, using the calculus of probability theory. Put differently, instead of relying on a single “best guess” as to what might be the case in the world, probabilistic algorithms represent information by probability distributions over a whole space of possible hypotheses. By doing so, they can represent ambiguity and degree of belief in a mathematically sound way, enabling them to accommodate all sources of uncertainty listed above. Moreover, by basing control decisions on probabilistic information, these algorithms degrade nicely in the face of the various sources of uncertainty described above, leading to new solutions to hard robotics problems.