... such histograms as whole-image features, we need ways to compare
to histograms to quantify the likelihood that the histograms map to nearby robot positions.
The problem of defining useful histogram ... local feature extractor used by the mobile robotics community
is the edge detector, and so we begin with a discussion of this classic topic in computer
vision. However, mobile robo...
... local-
ization. The final part of chapter 5 is devoted to a discussion of the challenges and most
promising techniques for mobile robots to autonomously map their surroundings.
Mobile robotics is so ... 2.2)
movement
pendulum
Oscillatory
of a multi-link
movement
pendulum
8 Chapter 1
For example, AGV (autonomous guided vehicle) robots (figure 1.8) autonomously
deliver parts betw...
... Links to Mobile Robots 314
Index 317
Autonomous
Mobile Robots
Introduction to
Roland
Illah R.
SIEGWART
NOURBAKHSH
Autonomous Mobile Robots
SIEGWART and NOURBAKHSH
Introduction to
Introduction to ... localization strategies, autonomous mapping, and navigation
competence. Bringing together all aspects of mobile robotics into one volume,
Introduction to A...
... person touches
AIBO on the chin.
8 Pause button: Press to activate AIBO or to
pause AIBO.
9 Chest light: Gives information about the
status of the robot.
10 Paw sensors: Located on the bottom of ... faced by different mobile robots.
So you will see great variety in the wheel configurations of mobile robots. In fact, few
robots use the Ackerman wheel configuration of the autom...
... systems behave. In mobile robotics,
we need to understand the mechanical behavior of the robot both in order to design appro-
priate mobile robots for tasks and to understand how to create control ... 0=
100
100
010
001
x
·
y
·
θ
·
100
x
·
y
·
θ
·
0==
X
I
X
I
X
R
β
β
t()
αβ+()sin αβ+()cos– l–() βcos R θ()ξ
I
·
rϕ
·
–0=
αβ+()cos αβ+()sin l βsin R θ()ξ
·
I
0=
3 Mobile Rob...
... sensitive to light between 400 and 100 0 nm wavelength.
It is important to remember that photodiodes are less sensitive to the ultraviolet end of the
spectrum (e.g., blue) and are overly sensitive to ... return
almost parallel to the transmitted beam for distant objects.
The sensor transmits 100 % amplitude modulated light at a known frequency and mea-
sures the phase shift betwee...
... kernel depicted by equation (4.37) causes pixel to make the fol-
lowing contributions to the target image :
+= -40;
+= 10;
+= 10;
+= 10;
+= 10.
Now consider the graphic example of a step ... ring. For this reason this method has not been applied to mobile robots.
A variation of the depth from focus technique has been applied to a mobile robot, dem-
onstrating obstac...
... by taking uncertainty into account explicitly.
4.3.1.3 Range histogram features
A histogram is a simple way to combine characteristic elements of an image. An angle his-
togram, as presented in ... identifying a specific room in an office building
applies to the entire room, but has a location that is spatially limited to the one particular
room.
In mobile robotics, features play an e...
... are partic-
ularly appropriate for study given their significant recent successes in enabling mobile
robots to navigate a variety of environments, from academic research buildings, to factory
floors, ... involves line extraction. Many indoor mobile robots rely upon
laser rangefinding devices to recover distance readings to nearby objects. Such robots can
automatically extrac...
... to the left, 0.9. The likelihood for being at state 2 is then
. In addition, 1-2 progresses to state 4 with a certainty factor of
, which is added to the certainty factor above to bring the total ... in this particular topological model arcs are zero-length while nodes have spa-
tial expansiveness and together cover the entire space. This particular topological represen-
tation is par...