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Träfflista för sökning "WFRF:(Burgard C.) srt2:(2005-2009)"

Sökning: WFRF:(Burgard C.) > (2005-2009)

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1.
  • Schael, S, et al. (författare)
  • Precision electroweak measurements on the Z resonance
  • 2006
  • Ingår i: Physics Reports. - : Elsevier BV. - 0370-1573 .- 1873-6270. ; 427:5-6, s. 257-454
  • Forskningsöversikt (refereegranskat)abstract
    • We report on the final electroweak measurements performed with data taken at the Z resonance by the experiments operating at the electron-positron colliders SLC and LEP. The data consist of 17 million Z decays accumulated by the ALEPH, DELPHI, L3 and OPAL experiments at LEP, and 600 thousand Z decays by the SLID experiment using a polarised beam at SLC. The measurements include cross-sections, forward-backward asymmetries and polarised asymmetries. The mass and width of the Z boson, m(Z) and Gamma(Z), and its couplings to fermions, for example the p parameter and the effective electroweak mixing angle for leptons, are precisely measured: m(Z) = 91.1875 +/- 0.0021 GeV, Gamma(Z) = 2.4952 +/- 0.0023 GeV, rho(l) = 1.0050 +/- 0.0010, sin(2)theta(eff)(lept) = 0.23153 +/- 0.00016. The number of light neutrino species is determined to be 2.9840 +/- 0.0082, in agreement with the three observed generations of fundamental fermions. The results are compared to the predictions of the Standard Model (SM). At the Z-pole, electroweak radiative corrections beyond the running of the QED and QCD coupling constants are observed with a significance of five standard deviations, and in agreement with the Standard Model. Of the many Z-pole measurements, the forward-backward asymmetry in b-quark production shows the largest difference with respect to its SM expectation, at the level of 2.8 standard deviations. Through radiative corrections evaluated in the framework of the Standard Model, the Z-pole data are also used to predict the mass of the top quark, m(t) = 173(+10)(+13) GeV, and the mass of the W boson, m(W) = 80.363 +/- 0.032 GeV. These indirect constraints are compared to the direct measurements, providing a stringent test of the SM. Using in addition the direct measurements of m(t) and m(W), the mass of the as yet unobserved SM Higgs boson is predicted with a relative uncertainty of about 50% and found to be less than 285 GeV at 95% confidence level. (c) 2006 Elsevier B.V. All rights reserved.
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2.
  • Burgard, W., et al. (författare)
  • A Comparison of SLAM Algorithms Based on a Graph of Relations
  • 2009
  • Ingår i: <em>IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>. - : IEEE conference proceedings. ; , s. 2089-2095
  • Konferensbidrag (refereegranskat)abstract
    • In this paper, we address the problem of creating an objective benchmark for comparing SLAM approaches. We propose a framework for analyzing the results of SLAM approaches based on a metric for measuring the error of the corrected trajectory. The metric uses only relative relations between poses and does not rely on a global reference frame. The idea is related to graph-based SLAM approaches, namely to consider the energy that is needed to deform the trajectory estimated by a SLAM approach into the ground truth trajectory. Our method enables us to compare SLAM approaches that use different estimation techniques or different sensor modalities since all computations are made based on the corrected trajectory of the robot. We provide sets of relative relations needed to compute our metric for an extensive set of datasets frequently used in the SLAM community. The relations have been obtained by manually matching laser-range observations to avoid the errors caused by matching algorithms. Our benchmark framework allows the user an easy analysis and objective comparisons between different SLAM approaches.
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4.
  • Kümmerle, R., et al. (författare)
  • Large Scale Graph-based SLAM using Aerial Images as Prior Information
  • 2009
  • Ingår i: Proceedings of Robotics Science and Systems (RSS). - : MIT Press.
  • Konferensbidrag (refereegranskat)abstract
    • To effectively navigate in their environments and accurately reach their target locations, mobile robots require a globally consistent map of the environment. The problem of learning a map with a mobile robot has been intensively studied in the past and is usually referred to as the simultaneous localization and mapping (SLAM) problem. However, existing solutions to the SLAM problem typically rely on loop-closures to obtain global consistency and do not exploit prior information even if it is available. In this paper, we present a novel SLAM approach that achieves global consistency by utilizing publicly accessible aerial photographs as prior information. Our approach inserts correspondences found between three-dimensional laser range scans and the aerial image as constraints into a graph-based formulation of the SLAM problem. We evaluate our algorithm based on large real-world datasets acquired in a mixed in- and outdoor environment by comparing the global accuracy with state-of-the-art SLAM approaches and GPS. The experimental results demonstrate that the maps acquired with our method show increased global consistency.
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