Active Sensors for Local Planning in Mobile Robotics, Vol. 26 Book

	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