Active Sensors for Local Planning in Mobile Robotics

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Editorial Reviews

From The Critics
Drawing on research she has been engaged with, and describing real sensors and systems, Smith (Oxford U.) summarizes the state of the art in active range and vision sensing for robots, and suggest some new developments. She begins with the demands for local planning, the problem of finding a reliable architecture to handle complexity and adaptability, and active sensors. Then she discusses millimeter wave sensors, sensing at optical wavelengths, and some general issues in sensor management. Annotation c. Book News, Inc., Portland, OR (booknews.com)
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Product Details

  • ISBN-13: 9789810246815
  • Publisher: World Scientific Publishing Company, Incorporated
  • Publication date: 1/28/2002
  • Series: Series in Robotics and Intelligent Systems
  • Pages: 317
  • Product dimensions: 5.70 (w) x 8.60 (h) x 0.90 (d)

Table of Contents

Preface
Ch. 1 Introduction 3
1.1 Architectures for Planning and Perception 3
1.2 Range Sensing Technologies 8
1.3 Planning Demands 9
Ch. 2 The Mapping and Localisation Problem 13
2.1 Simultaneous Localisation and Map Building 13
Ch. 3 Perception at Millimetre Wavelengths 21
3.1 Sensor Operation 22
3.2 The Sensor 24
3.3 Antenna Properties 25
3.4 Altering Aperture Shape 29
3.5 Target Properties 33
3.6 Attenuation in the Transmission Medium 37
3.7 Summary 39
Ch. 4 Advanced Sonar: Principles of Operation and Interpretation 41
4.1 Single Return Sonar 41
4.2 Advanced Sonar: The Sonar Signature 47
4.3 Acquiring the Sonar Signature 51
4.4 Summary 60
Ch. 5 Smooth and Rough Target Modelling: Examples in Mapping and Texture Classification 61
5.1 Power Received by the Transducer 61
5.2 Smooth Surface Model 62
5.3 Rough Surface Planar Models 68
5.4 Mapping Heterogeneous Environments 72
5.5 Texture: Classifying Surfaces 72
5.6 Summary 77
Ch. 6 Sonar Systems: A Biological Perspective 79
6.1 Introduction 79
6.2 Echo Formation 81
6.3 Monaural Sensing 86
6.4 Multi-Aural Sensing 88
6.5 Summary 109
Ch. 7 Map Building from Range Data Using Mathematical Morphology 111
7.1 Introduction 111
7.2 Basics of Sonar Sensing 114
7.3 Processing of the Sonar Data 115
7.4 Experimental Verification 125
7.5 Discussion and Conclusions 133
Ch. 8 Millimetre Wave Radar for Robotics 137
8.1 Background 137
8.2 When to Use Millimetre Wave Radar 138
8.3 Millimetre Wave Radar Principles 140
8.4 Review of Work Done in the Field 151
8.5 Airborne Radar Systems 156
8.6 Waypoint Navigation Process 159
8.7 Summary 162
Ch. 9 Optoelectronic Range Sensors 165
9.1 Introduction 165
9.2 Range-Finders 165
9.3 Radiometric Design 166
9.4 Ranging Sensors 177
9.5 Scanning Range-Finders 186
Ch. 10 AMCW Lidar Range Acquisition 193
10.1 Introduction 193
10.2 Critical Lidar Design Factors 195
10.3 Performance Limits - Noise 197
10.4 AMCW Lidar Modules 198
10.5 Causes of, and Remedies for, Range Errors 200
10.6 Correct Calibration Procedures 208
10.7 Possible Scanning Speed 212
10.8 3D Range/Amplitude Scanning - Results 217
10.9 Summary 219
Ch. 11 Extracting Lines and Curves from Optoelectronic Range Data 223
11.1 The Optoelectronic Sensors 224
11.2 Feature Extraction and Processing 227
11.3 Conclusions 238
11.4 Acknowledgments 238
Ch. 12 Active Vision for Mobile Robot Navigation 239
12.1 Vision for Mobile Robots 239
12.2 Scene Features 244
12.3 Fixation 251
12.4 Localisation and Map-Building 254
12.5 Continuous Feature Tracking 259
12.6 A Fixation Strategy for Localisation 261
12.7 Steering Control and Context-Based Navigation 266
12.8 Summary 269
Ch. 13 Strategies for Active Sensor Management 271
13.1 Introduction 271
13.2 Simple Signal Processing Tools 275
13.3 Reconfigurable Sensors and Signal Processing Tools 278
13.4 A Sensor-Centred Image Segmentation Algorithm 282
13.5 Signal Processing Tool Selection Strategies 284
13.6 Dynamic Signal Processing Tool Scheduling 287
13.7 Conclusions 289
Bibliography 291
App. A: Contact Details of Authors 307
Index 311
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