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Author Smith, Penelope Probert
Title Active Sensors for Local Planning in Mobile Robotics
Imprint Singapore : World Scientific Publishing Co Pte Ltd, 2001
©2001
book jacket
Descript 1 online resource (337 pages)
text txt rdacontent
computer c rdamedia
online resource cr rdacarrier
Series Series On Knots And Everything ; v.26
Series On Knots And Everything
Note Intro -- Contents -- Preface -- Acknowledgements -- Chapter 1 Introduction -- 1.1 Architectures for Planning and Perception -- 1.2 Range Sensing Technologies -- 1.3 Planning Demands -- Chapter 2 The Mapping and Localisation Problem -- 2.1 Simultaneous Localisation and Map Building -- Chapter 3 Perception at Millimetre Wavelengths -- 3.1 Sensor Operation -- 3.2 The Sensor -- 3.3 Antenna Properties -- 3.4 Altering Aperture Shape -- 3.5 Target Properties -- 3.6 Attenuation in the Transmission Medium -- 3.7 Summary -- Chapter 4 Advanced Sonar: Principles of Operation and Interpretation -- 4.1 Single Return Sonar -- 4.2 Advanced Sonar: The Sonar Signature -- 4.3 Acquiring the Sonar Signature -- 4.4 Summary -- Chapter 5 Smooth and Rough Target Modelling: Examples in Mapping and Texture Classification -- 5.1 Power Received by the Transducer -- 5.2 Smooth Surface Model -- 5.3 Rough Surface Planar Models -- 5.4 Mapping Heterogeneous Environments -- 5.5 Texture: Classifying Surfaces -- 5.6 Summary -- Chapter 6 Sonar Systems: A Biological Perspective -- 6.1 Introduction -- 6.2 Echo Formation -- 6.3 Monaural Sensing -- 6.4 Multi-Aural Sensing -- 6.5 Summary -- Chapter 7 Map Building from Range Data Using Mathematical Morphology -- 7.1 Introduction -- 7.2 Basics of Sonar Sensing -- 7.3 Processing of the Sonar Data -- 7.4 Experimental Verification -- 7.5 Discussion and Conclusions -- Chapter 8 Millimetre Wave Radar for Robotics -- 8.1 Background -- 8.2 When to Use Millimetre Wave Radar -- 8.3 Millimetre Wave Radar Principles -- 8.4 Review of Work Done in the Field -- 8.5 Airborne Radar Systems -- 8.6 Waypoint Navigation Process -- 8.7 Summary -- Chapter 9 Optoelectronic Range Sensors -- 9.1 Introduction -- 9.2 Range-Finders -- 9.3 Radiometric Design -- 9.4 Ranging Sensors -- 9.5 Scanning Range-Finders -- Chapter 10 AMCW LIDAR Range Acquisition
10.1 Introduction -- 10.2 Critical Lidar Design Factors -- 10.3 Performance Limits - Noise -- 10.4 AMCW Lidar Modules -- 10.5 Causes of and Remedies for Range Errors -- 10.6 Correct Calibration Procedures -- 10.7 Possible Scanning Speed -- 10.8 3D Range/Amplitude Scanning - Results -- 10.9 Summary -- Chapter 11 Extracting Lines and Curves from Optoelectronic Range Data -- 11.1 The Optoelectronic Sensors -- 11.2 Feature Extraction and Processing -- 11.3 Conclusions -- 11.4 Acknowledgments -- Chapter 12 Active Vision for Mobile Robot Navigation -- 12.1 Vision for Mobile Robots -- 12.2 Scene Features -- 12.3 Fixation -- 12.4 Localisation and Map-Building -- 12.5 Continuous Feature Tracking -- 12.6 A Fixation Strategy for Localisation -- 12.7 Steering Control and Context-Based Navigation -- 12.8 Summary -- Chapter 13 Strategies for Active Sensor Management -- 13.1 Introduction -- 13.2 Simple Signal Processing Tools -- 13.3 Reconfigurable Sensors and Signal Processing Tools -- 13.4 A Sensor-Centred Image Segmentation Algorithm -- 13.5 Signal Processing Tool Selection Strategies -- 13.6 Dynamic Signal Processing Tool Scheduling -- 13.7 Conclusions -- Bibliography -- Appendix A: Contact Details of Authors -- Index
This book describes recent work on active sensors for mobile robots. An active sensor interacts with its surroundings to supply data on demand for a particular function, gathering and abstracting information according to need rather than acting as a generic data gatherer. Details of the physical operation are hidden. The book deals mainly with active range sensors, which provide rapid information for local planning, describing extraction of two-dimensional features such as lines, corners and cylinders to reconstruct a plan of a building. It is structured according to the physical principles of the sensors, since to a large extent these determine the function of the sensors and the methods of processing. Recent work using sonar, optoelectronic sensors and radar is described. Sections on vision and on sensor management develop the idea of software adaptation for efficient operation in a changing environment. Contents: The Mapping and Localisation Problem; Perception at Millimetre Wavelengths; Advanced Sonar: Principles of Operation and Interpretation; Smooth and Rough Target Modelling: Examples in Mapping and Texture Classification; Sonar Systems: A Biological Perspective; Map Building from Range Data Using Mathematical Morphology; Millimetre Wave Radar for Robotics; Optoelectronic Range Sensors; AMCW LIDAR Range Acquisition; Extracting Lines and Curves from Optoelectronic Range Data; Active Vision for Mobile Robot Navigation; Strategies for Active Sensor Management. Readership: Graduate students and final year undergraduate students in electrical and electronic engineering, systems and knowledge, robotics, image processing and artificial intelligence
Description based on publisher supplied metadata and other sources
Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, 2020. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries
Link Print version: Smith, Penelope Probert Active Sensors for Local Planning in Mobile Robotics Singapore : World Scientific Publishing Co Pte Ltd,c2001 9789810246815
Subject Mobile robots.;Detectors.;Signal processing
Electronic books
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