LEADER 05236nam 2200697Ia 450 001 9910824019203321 005 20200520144314.0 010 $a1-281-95664-3 010 $a9786611956646 010 $a981-281-114-1 035 $a(CKB)1000000000537993 035 $a(EBL)1679732 035 $a(OCoLC)879074224 035 $a(SSID)ssj0000096924 035 $a(PQKBManifestationID)11128049 035 $a(PQKBTitleCode)TC0000096924 035 $a(PQKBWorkID)10111947 035 $a(PQKB)10008007 035 $a(MiAaPQ)EBC1679732 035 $a(WSP)00004752 035 $a(Au-PeEL)EBL1679732 035 $a(CaPaEBR)ebr10255993 035 $a(CaONFJC)MIL195664 035 $a(PPN)229009085 035 $a(EXLCZ)991000000000537993 100 $a20020318d2001 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aActive sensors for local planning in mobile robotics$b[electronic resource] /$fPenelope Probert Smith 210 $aRiver Edge, NJ $cWorld Scientific$d2001 215 $a1 online resource (337 p.) 225 1 $aWorld Scientific series in robotics and intelligent systems ;$vv. 26 300 $aDescription based upon print version of record. 311 $a981-02-4681-1 320 $aIncludes bibliographical references (p. 291-305) and index. 327 $aContents ; 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 327 $aChapter 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 327 $aChapter 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 327 $a5.1 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 327 $a6.3 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 327 $aChapter 8 Millimetre Wave Radar for Robotics 330 $a This book describes recent work on active sensors for mobile robots. An active sensor interacts with its surroundings to supply data on demand for a particular function, gathering and abstracting information according to need rather than acting as a generic data gatherer. Details of the physical operation are hidden. The book deals mainly with active range sensors, which provide rapid information for local planning, describing extraction of two-dimensional features such as lines, corners and cylinders to reconstruct a plan of a building. It is structured according to the physical principles 410 0$aWorld Scientific series in robotics and intelligent systems ;$vv. 26. 606 $aMobile robots 606 $aDetectors 606 $aSignal processing 615 0$aMobile robots. 615 0$aDetectors. 615 0$aSignal processing. 676 $a629.8/92 700 $aSmith$b Penelope Probert$01633991 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910824019203321 996 $aActive sensors for local planning in mobile robotics$93974024 997 $aUNINA