| Preface |
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3 | (10) |
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Architectures for Planning and Perception |
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3 | (5) |
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Range Sensing Technologies |
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8 | (1) |
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9 | (4) |
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The Mapping and Localisation Problem |
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13 | (8) |
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Simultaneous Localisation and Map Building |
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13 | (8) |
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14 | (1) |
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The Coupling of Map Estimates |
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15 | (2) |
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Simultaneous Localisation and Map-Building with the EKF |
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17 | (4) |
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Perception at Millimetre Wavelengths |
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21 | (20) |
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22 | (2) |
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24 | (1) |
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25 | (4) |
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26 | (3) |
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29 | (4) |
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32 | (1) |
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33 | (1) |
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33 | (4) |
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Smooth Surfaces: The Specular Model |
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34 | (1) |
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35 | (1) |
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36 | (1) |
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Attenuation in the Transmission Medium |
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37 | (2) |
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38 | (1) |
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38 | (1) |
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39 | (2) |
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Advanced Sonar: Principles of Operation and Interpretation |
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41 | (20) |
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41 | (6) |
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Mapping and Navigation Using Single Return Sonar |
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44 | (1) |
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Occupancy Grid Representation |
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44 | (2) |
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46 | (1) |
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The Geometric Target Primitives |
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47 | (1) |
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Advanced Sonar: The Sonar Signature |
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47 | (4) |
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48 | (2) |
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50 | (1) |
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51 | (1) |
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Acquiring the Sonar Signature |
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51 | (9) |
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52 | (1) |
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Improving Range Accuracy: The Correlation Receiver |
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52 | (2) |
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54 | (2) |
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Continuous Wave Frequency Modulated Sonar |
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56 | (4) |
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60 | (1) |
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60 | (1) |
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Smooth and Rough Target Modelling: Examples in Mapping and Texture Classification |
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61 | (18) |
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Power Received by the Transducer |
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61 | (1) |
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62 | (6) |
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Backscattering Coefficient |
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62 | (1) |
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The Target Geometry Coefficient |
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63 | (1) |
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63 | (1) |
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Finding the Position of Each Feature |
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64 | (1) |
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65 | (1) |
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65 | (3) |
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Rough Surface Planar Models |
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68 | (4) |
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Backscattering Coefficient of Rough Surface |
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69 | (1) |
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Finding Position of Rough Surfaces |
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70 | (2) |
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Mapping Heterogeneous Environments |
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72 | (1) |
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Texture: Classifying Surfaces |
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72 | (5) |
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Reflections from Real Surfaces |
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73 | (2) |
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75 | (1) |
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Finding Suitable Features |
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76 | (1) |
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77 | (1) |
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77 | (2) |
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Sonar Systems: A Biological Perspective |
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79 | (32) |
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79 | (2) |
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81 | (5) |
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82 | (2) |
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84 | (1) |
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Reflections from a Planar Reflector |
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84 | (1) |
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Reflections from a Corner |
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85 | (1) |
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86 | (1) |
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86 | (2) |
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Inverting the Echo Formation Process |
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87 | (1) |
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Extraction of Information: Cochlear Processing |
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87 | (1) |
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88 | (21) |
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Echo Amplitude and Echo Arrival Time: Two transmitters, Two receivers |
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89 | (1) |
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89 | (1) |
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Localisation of Planes and Corners |
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90 | (1) |
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Recognition of Planes and Corners |
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91 | (2) |
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Echo Arrival Time Information: Two Transmitters, Two Receivers |
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93 | (1) |
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94 | (1) |
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Localisation of Edges and Planes/Corners |
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94 | (1) |
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Recognition of Edges, Planes and Corners |
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95 | (2) |
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Echo Arrival Time Information: One Transmitter, Three Receivers |
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97 | (1) |
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97 | (1) |
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Localisation of Edges and Planes/Corners |
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98 | (1) |
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Recognition of Edges, Planes and Corners |
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99 | (2) |
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Localisation of Curved Reflectors |
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101 | (2) |
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One Transmitter, Two Receivers: 3 Dimensional World Model |
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103 | (1) |
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104 | (1) |
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Localisation of a Point-Like Reflector in 3D |
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105 | (4) |
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109 | (2) |
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Map Building from Range Data Using Mathematical Morphology |
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111 | (26) |
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111 | (3) |
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114 | (1) |
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Processing of the Sonar Data |
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115 | (10) |
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117 | (2) |
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119 | (2) |
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121 | (1) |
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121 | (1) |
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122 | (1) |
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Arbitrarily-Distributed Sensors |
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122 | (3) |
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Experimental Verification |
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125 | (8) |
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125 | (3) |
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128 | (5) |
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Computational Cost of the Method |
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133 | (1) |
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Discussion and Conclusions |
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133 | (4) |
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Millimetre Wave Radar for Robotics |
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137 | (28) |
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137 | (1) |
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When to Use Millimetre Wave Radar |
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138 | (2) |
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Millimetre Wave Radar Principles |
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140 | (11) |
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140 | (1) |
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141 | (1) |
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142 | (1) |
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Frequency Modulated Continuous Wave |
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143 | (3) |
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Angular Resolution and Antennas |
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146 | (2) |
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148 | (1) |
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148 | (1) |
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148 | (1) |
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149 | (2) |
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Review of Work Done in the Field |
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151 | (5) |
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151 | (1) |
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Technische Universitat Munchen |
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151 | (2) |
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St. Petersburg State Technical University |
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153 | (1) |
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153 | (1) |
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Robotics Institute: Carnegie Mellon University |
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153 | (1) |
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Helsinki University of Technology |
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154 | (1) |
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Australian Centre for Field Robotics: Sydney University |
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154 | (2) |
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156 | (3) |
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Imaging Range and Resolution |
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156 | (2) |
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158 | (1) |
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Waypoint Navigation Process |
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159 | (3) |
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Navigation Error Estimation |
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161 | (1) |
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161 | (1) |
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162 | (3) |
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Optoelectronic Range Sensors |
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165 | (28) |
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165 | (1) |
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165 | (1) |
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165 | (1) |
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166 | (11) |
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168 | (3) |
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171 | (1) |
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172 | (2) |
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174 | (3) |
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177 | (9) |
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177 | (3) |
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180 | (1) |
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181 | (1) |
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Amplitude Modulation Continuous Wave |
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182 | (2) |
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Frequency Modulation Continuous Wave |
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184 | (2) |
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186 | (7) |
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186 | (1) |
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186 | (1) |
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187 | (1) |
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187 | (1) |
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188 | (1) |
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The Sick Sensor: Pulsed Lidar |
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188 | (1) |
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188 | (1) |
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189 | (1) |
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190 | (3) |
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AMCW LIDAR Range Acquisition |
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193 | (30) |
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193 | (2) |
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Critical Lidar Design Factors |
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195 | (2) |
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Performance Limits - Noise |
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197 | (1) |
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198 | (2) |
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Causes of, and Remedies for, Range Errors |
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200 | (8) |
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200 | (4) |
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204 | (1) |
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Multiple Path Reflections |
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205 | (3) |
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Correct Calibration Procedures |
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208 | (4) |
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212 | (5) |
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3D Range/Amplitude Scanning - Results |
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217 | (2) |
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219 | (4) |
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Extracting Lines and Curves from Optoelectronic Range Data |
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223 | (16) |
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The Optoelectronic Sensors |
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224 | (3) |
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The Triangulation (LEP) Sensor |
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224 | (2) |
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226 | (1) |
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226 | (1) |
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Feature Extraction and Processing |
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227 | (11) |
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Kalman Filter for Straight Line Extraction |
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228 | (1) |
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Extended Kalman Filter Equations |
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229 | (1) |
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Cartesian to Polar Co-ordinates |
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230 | (1) |
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231 | (1) |
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231 | (1) |
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232 | (1) |
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233 | (5) |
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238 | (1) |
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238 | (1) |
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Active Vision for Mobile Robot Navigation |
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239 | (32) |
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239 | (5) |
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240 | (1) |
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Navigation Using Active Vision |
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241 | (1) |
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A Robot Platform with Active Vision |
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242 | (2) |
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244 | (7) |
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244 | (3) |
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Searching for and Matching Features |
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247 | (2) |
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249 | (2) |
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251 | (3) |
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251 | (1) |
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The Accuracy of Fixated Measurements |
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252 | (2) |
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Localisation and Map-Building |
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254 | (5) |
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254 | (5) |
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Continuous Feature Tracking |
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259 | (2) |
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A Fixation Strategy for Localisation |
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261 | (5) |
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Choosing from Known Features |
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262 | (1) |
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263 | (3) |
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Steering Control and Context-Based Navigation |
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266 | (3) |
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Steering a Twisting Course |
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266 | (3) |
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269 | (2) |
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Strategies for Active Sensor Management |
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271 | (20) |
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271 | (4) |
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Simple Signal Processing Tools |
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275 | (3) |
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Reconfigurable Sensors and Signal Processing Tools |
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278 | (4) |
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A Sensor-Centred Image Segmentation Algorithm |
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282 | (2) |
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Signal Processing Tool Selection Strategies |
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284 | (3) |
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Dynamic Signal Processing Tool Scheduling |
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287 | (2) |
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289 | (2) |
| Bibliography |
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291 | (16) |
| Appendix A: Contact Details of Authors |
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307 | (4) |
| Index |
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311 | |
Lisainfo e-raamatute kohta