Bibliographic record
Abstract
Simultaneous localization and mapping (SLAM) is a process that fuses sensor observations of features or landmarks with dead-reckoning information over time to estimate the location of the robot in an unknown area and to build a map that includes feature locations.In this chapter, a general model and its related solving algorithm for 3D SLAM are established.The method can be used for all of the situations in the mobile robot community.An underwater mobile robot is used as an example.This chapter is organized as follows: Section 1 is the problem definition; Section 2 establishes all the models for 3D SLAM, including the robot process model, the landmark model, and the measurement model; Section 3 is the method for data association; Section 4 presents the algorithms to solve the SLAM; section 5 describes the multi-sensor related issues based on the underwater mobile robot cases; and Section 6 is the globally-consistent 3D SLAM for mobile robot in real environment.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.002 | 0.004 |
| Science and technology studies | 0.001 | 0.002 |
| Scholarly communication | 0.003 | 0.004 |
| Open science | 0.002 | 0.003 |
| Research integrity | 0.002 | 0.003 |
| Insufficient payload (model declined to judge) | 0.009 | 0.007 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".