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Sebastian Thrun

Wolfram Burgard

Probabilistic Robotics (Intelligent Robotics and Autonomous Agents series) 1st Edition

by Sebastian Thrun (Author), Wolfram Burgard (Author), Dieter Fox (Author)

152 ratings

4.6 on Goodreads

202 ratings

Part of: Intelligent Robotics and Autonomous Agents (9 books)

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An introduction to the techniques and algorithms of the newest field in robotics.

Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

ISBN-10

0262201623
ISBN-13

978-0262201629
Edition

1st
Publisher

The MIT Press
Publication date

August 19, 2005
Part of series

Intelligent Robotics and Autonomous Agents
Language

English
Dimensions

8.25 x 1.46 x 9.25 inches
Print length

672 pages
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Editorial Reviews

Review

Probabilistic Robotics is a tour de force, replete with material for students and practitioners alike.

―Gaurav S. Sukhatme, Associate Professor of Computer Science and Electrical Engineering, University of Southern California

About the Author

Sebastian Thrun is Associate Professor in the Computer Science Department at Stanford University and Director of the Stanford AI Lab.

Wolfram Burgard is Professor of Computer Science and Head of the research lab for Autonomous Intelligent Systems at the University of Freiburg.

Dieter Fox is Associate Professor of Computer Science at the University of Washington.

Product details

Publisher ‏ : ‎ The MIT Press; 1st edition (August 19, 2005)
Language ‏ : ‎ English
Hardcover ‏ : ‎ 672 pages
ISBN-10 ‏ : ‎ 0262201623
ISBN-13 ‏ : ‎ 978-0262201629
Reading age ‏ : ‎ 18 years and up
Item Weight ‏ : ‎ 3 pounds
Dimensions ‏ : ‎ 8.25 x 1.46 x 9.25 inches

Best Sellers Rank: #506,493 in Books (See Top 100 in Books)
- #56 in Mars
- #122 in Robotics (Books)
- #205 in Robotics & Automation (Books)

Customer Reviews:
152 ratings

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Customer reviews

5 star		78%
4 star		13%
3 star		5%
2 star		2%
1 star		3%

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Thomas Edward

A great treatment of the subject

Reviewed in the United States 🇺🇸 on June 17, 2014

Verified Purchase

I work in avionics, not robotics, but I ordered this book because it seemed to cover a lot of the subjects that are now making their way into avionics systems. In particular, I was interested in its coverage of Kalman Filters and POMDPs.

I have to say that the other positive reviews are well-warranted. I have not before encountered such clear explanations of Bayes filtering, Kalman Filters (including EKFs and UKFs), even in spite of having encountered many books and papers on these subjects. The authors seem to go out of their way to present the material with a logical and clear-cut progression that doesn't skip essential steps with the typical "the reader can clearly see that..." kinds of hand-waiving I have seen in other texts.

To be honest, I can't comment on the parts related to robot dynamics and SLAM, but as for chapters 1-4 and the chapters on POMDPs, I would have to say that this book presents the material in a better and more clear way than I have ever seen it presented before.

13 people found this helpful

Helpful

Mike

Great Reference Book!

Reviewed in the United States 🇺🇸 on December 26, 2010

Verified Purchase

Just went through this book in a week for my own research. This was a nice read and a great reference book for all the probabilistic theory and algorithms that are essential to robotics and AI these days, in cutting edge research. Strongly recommended as a book that you will want to keep on your closest shelf or desk corner. Be warned that this is definitely a graduate-level textbook, so don't see this as a "robotics for dummies" kind of book, be prepared with at least some prior basis in probabilistic methods, estimation, and/or machine learning. This book will be a great jump forward into robotics for a finishing undergraduate, or a firm reference book for graduate students or researchers. The amount of mathematical derivations is just about perfect (doesn't break readability, but provides just enough to avoid any "mathemagical" leaps in the formulations). Algorithms are concise, concrete and pertinent (as opposed to many other probabilistic texts that present algorithms that are often written in very high-level pseudo-code that makes it hard to understand what a concrete implementation really involves doing). Lots of concrete examples that make it really clear why this paradigm for robotics software is necessary and by far the most powerful (although a real computational challenge!).

2 people found this helpful

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Chris Mansley

The Robotics Reference

Reviewed in the United States 🇺🇸 on July 25, 2010

Verified Purchase

This textbook is the standard reference for probabilistic robotics in the areas of navigation and mapping. One of the authors is the director of the Stanford AI lab and headed the winning entry in the DARPA Grand Challenge in 2007, which needless to say means he understands and has developed many of the techniques in the book. The algorithms are laid out and explained at different depths of understanding, which sometimes allows them to be used without reading the rigorous mathematical derivations that are included. Within the first week of having this book, I found that my method of estimating odometry in the prediction step of a Kalman filter could be improved with a different estimation. In addition, since the book provided a mathematical derivation, I could compare the two techniques and explain under what assumptions my approximation fails to do well.

13 people found this helpful

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mds1016

Best explanation of the Kalman filter I have read yet.

Reviewed in the United States 🇺🇸 on June 10, 2013

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As someone with a multi-discipline background that includes some control theory, I am always frustrated by the "explanations" that control theorists attempt to put forward for the Kalman filter, and find that the best explanations actually come from other fields. Prior to stumbling upon this book, the best explanation of the Kalman filter I had read actually came from a book on Bayesian statistics. It makes sense that this book would have the same basic Bayesian approach, but would also extend the technique in exactly the manner needed to properly do controls and robotics. Further it fits the technique into a larger, cross-disciplinary, landscape of estimation, sensing and modeling techniques from both "controls" and "robotics" (which, despite sounding like two forms of the same field, tend to actually have distinct and disparate communities which have surprising trouble talking to one another).

7 people found this helpful

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Igor

Probabilistic Robotics (Intelligent Robotics and Autonomous Agents series)

Reviewed in the United States 🇺🇸 on December 10, 2020

Verified Purchase

This book gives good theoretical foundation for modern algorithms used
in the field of robotics, state estimation, SLAM, motion planning.
May be used as good undergrad or graduation level study material.

Helpful

AleMan

I gave up pretty soon as the text was very difficult to follow

Reviewed in the United States 🇺🇸 on November 4, 2015

Verified Purchase

I bought this book with the idea of learning more about the topic. I gave up pretty soon as the text was very difficult to follow. Then I came across a YouTube recording of a SLAM course that was based on this book.

https://www.youtube.com/playlist?list=PLgnQpQtFTOGQrZ4O5QzbIHgl3b1JHimN_

I went back to the text after watching the online SLAM course and was able to understand it.On the whole, the text is not easy to understand. It very mathematical. But if you keep at it, it will pay off.

2 people found this helpful

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TG

Good quality

Reviewed in the United States 🇺🇸 on June 26, 2019

Verified Purchase

Quality of the book is fine. However, the surface is completely wavy. The binding seems to be coming out. It could be a while before I could actually ascertain the quality of the binding.

Reviewed in the United States 🇺🇸 on May 13, 2014

Verified Purchase

This is a brilliant book, must read and must have on a desk of a robotics engineer, especially on the software side.
One can tell how much effort and hard work the authors put into writing the book.
Very clean and concise text.
The book not just teaches the subject, but gives a lot of ideas on further research topics.
It might sound like the authors have been primarily concerned with SLAM and motion planning problems. The truth is that the methods they describe can be applied in many other areas, just use your brain.
Wish there were more books like that.

3 people found this helpful

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Evripidis

Great book

Reviewed in the United Kingdom 🇬🇧 on August 21, 2019

Verified Purchase

Actually, this was a gift, but I the person that read it was very happy!

Alex Davies

easy to read and supported with a good website online

Reviewed in the United Kingdom 🇬🇧 on March 17, 2017

Verified Purchase

Comprehensive, easy to read and supported with a good website online.

TWeiss

Ein perfekter Überblick über die Thematik

Reviewed in Germany 🇩🇪 on January 27, 2008

Verified Purchase

Ich arbeite im Rahmen von zahlreichen Industrie/EU-Forschungsprojekten auf dem Gebiet der Positionierung mit Laserscannern für automotive Anwendungen. Ich habe zu Beginn der Arbeit recht viel Zeit benötigt, um mir einen Überblick über die Thematik zu verschaffen. Es gibt schließlich zahlreiche namhafte Konferenzen wie ICRA oder IROS und andere, bei denen solche Themen als Schwerpunkt behandelt werden. Leider ist die Flut und die Menge an Informationen und auch die Anzahl der veröffentlichen Papers und Journals so groß, dass man erst einmal schwer die essentiellen Ideen der Thematik herausfindet.

Dann fiel mir dieses Buch auf, als ich mich auf der Homepage von Sebastian Thrun informierte. Das Buch füllt zu 100% eine große Lücke in der Literatur, da es genau die Themen auf den Punkt bringt, die für die Positionierung, das Kartographieren und für Pfadplanung wichtig sind. Die grundlegende Ideen stehen verständlich in dem Buch. Natürlich ist ein gewisses mathematisches Vorwissen und auch Wissen zu Schätzverfahren usw. hilfreich, aber die Autoren führen auch das am Anfang ein. Was mir bei den drei Autoren (nicht nur bei diesem Buch, sondern auch bei den vielen sonstigen veröffentlichten Papern)positiv auffällt ist, dass sie die Thematik schön erklären und nicht Algorithmen in undurchdringlichen Schemabildern und Notationen verstecken, sondern - salopp gesagt - es einfach aufschreiben wie es ist. Das ist doch recht selten.

Der Literaturüberblick am Ende jedes Kapitels sucht seinesgleichen. Die Errate im Internet ist ebenfalls eine sehr gute Idee. Weiterhin bieten die Autoren Präsentationsmaterial auf der Homepage an. Hier merkt man, dass das Buch aus der Lehre stammt und schon mehrere Iterationen durchlaufen wurden.

Ich gebe das Buch meinen Elektrotechnik-Studien- und Diplomarbeitern, die es zum Kennenlernen der Materie nutzen. Man merkt an deren Reaktionen auch deutlich, dass es recht schnell verständlich und klar geschrieben ist.

Vielleicht noch ein Hinweis: Das ist kein Roboter-Bastelbuch. Hier geht es um moderne Positionier-, Kartographier- und Pfadplanungsalgorithmen, die natürlich einen gewissen mathematischen und algorithmischen Anspruch haben. Und genau das macht es so wertvoll. Einen gewissen algorithmischen Bezug zur Grand-Challenge ist gegeben.

Auch der Preis ist sehr fair.

9 people found this helpful

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DHung

Great Intro Book

Reviewed in Canada 🇨🇦 on February 23, 2014

Verified Purchase

This is an excellent text book for those that are starting out in robotics (like myself).

It introduces a lot of the general concepts.

Layout is fairly good.

Could use more examples to associate the concepts to real life situations.

Luisa_Musika

Große Hilfe!

Reviewed in Germany 🇩🇪 on January 17, 2015

Verified Purchase

Hat meinem Sohn im Studium (Umweltrobotik) sehr gute Dienste geleistet. Er findet das Buch empfehlenswert. Das Buch deckte inhaltlich alles das ab was man als Grundlage für diese Technik benötigt.

One person found this helpful

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