Sensors and Methods for Mobile Robot Positioning

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6.4 Summary ............................................................ 172 Chapter 7 Landmark Navigation ............................................ 173 7.1 Natural Landmarks .....................................................174 7.2 Artificial Landmarks ....................................................175 7.2.1 Global Vision ..................................................... 176 7.3 Artificial Landmark Navigation Systems ....................................176 7.3.1 MDARS Lateral-Post Sensor ......................................... 177 7.3.2 Caterpillar Self Guided Vehicle ...................................... 178 7.3.3 Komatsu Ltd, Z-shaped landmark ..................................... 179 7.4 Line Navigation ........................................................180 7.4.1 Thermal Navigational Marker .........................................181 7.4.2 Volatile Chemicals Navigational Marker .................................181 7.5 Summary ............................................................ 183 Chapter 8 Map-based Positioning ........................................... 184 8.1 Map Building ......................................................... 185 8.1.1 Map-Building and Sensor Fusion ...................................... 186 8.1.2 Phenomenological vs. Geometric Representation, Engelson & McDermott [1992] 186 8.2 Map Matching ........................................................ 187 8.2.1 Schiele and Crowley [1994] ......................................... 188 8.2.2 Hinkel and Knieriemen [1988] — The Angle Histogram ....................189 8.2.3 Weiß, Wetzler, and Puttkamer — More on the Angle Histogram .............191 8.2.4 Siemens' Roamer .................................................. 193 8.2.5 Bauer and Rencken: Path Planning for Feature-based Navigation.............194 8.3 Geometric and Topological Maps ........................................196 8.3.1 Geometric Maps for Navigation .......................................197 8.3.1.1 Cox [1991] ....................................................198 8.3.1.2 Crowley [1989] ................................................199 8.3.1.3 Adams and von Flüe ............................................202 8.3.2 Topological Maps for Navigation ......................................203 8.3.2.1 Taylor [1991] ..................................................203 8.3.2.2 Courtney and Jain [1994] ........................................203 8.3.2.3 Kortenkamp and Weymouth [1993] ................................204 8.4 Summary ............................................................ 206 8
Chapter 9 Vision-Based Positioning .........................................207 9.1 Camera Model and Localization .........................................207 9.2 Landmark-Based Positioning ............................................209 9.2.1 Two-Dimensional Positioning Using a Single Camera .....................209 9.2.2 Two-Dimensional Positioning Using Stereo Cameras ......................211 9.3 Camera-Calibration Approaches .........................................211 9.4 Model-Based Approaches ..............................................213 9.4.1 Three-Dimensional Geometric Model-Based Positioning ...................214 9.4.2 Digital Elevation Map-Based Localization ..............................215 9.5 Feature-Based Visual Map Building ......................................215 9.6 Summary and Discussion ...............................................216 Appendix A A Word on Kalman Filters ......................................218 Appendix B Unit Conversions and Abbreviations ..............................219 Appendix C Systems-at-a-Glance Tables .....................................221 References ..............................................................236 Subject Index ............................................................262 Author Index ............................................................274 Company Index ..........................................................278 Bookmark Index .........................................................279 Video Index .............................................................280 Full-length Papers Index ...................................................281 9
Page 2 and 3: 7KH8QLYHUVLW\RI0LFKLJDQ Where am I?
Page 4 and 5: Acknowledgments This research was s
Page 6 and 7: 2.4.2.2 Watson Gyrocompass ........
Page 10 and 11: INTRODUCTION Leonard and Durrant-Wh
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CHAPTER 5 ODOMETRY AND OTHER DEAD-R
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CHAPTER 8 MAP-BASED POSITIONING Map
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218 Appendices, References, Indexes
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220 Appendices, References, Indexes
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Systems-at-a-Glance Tables Odometry
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Systems-at-a-Glance Tables Global N
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Systems-at-a Glance Tables Beacon N
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Systems-at-a-Glance Tables Landmark
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REFERENCES 1. Abidi, M. and Chandra
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238 References 31. Boltinghouse, S.
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240 References MOBOT-IV.” Proceed
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242 References 90. Dahlin, T. and K
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244 References 120. Fisher, D., Hol
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246 References 156. Janet, J., Luo,
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248 References 187. Larsson, U., Ze
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250 References 220. Nolan, D.A., Bl
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252 References 249. Sanders, G.A.,
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254 References 278. Turpin, D.R., 1
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256 References 309. EATON - Eaton-K
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258 References 349. SPSi - Spatial
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260 References 380. MacKenzie, P. a
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262 Index AC ..............47, 59,
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264 Index Datums ..................
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266 Index glass ...................
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268 Index lateral-post ............
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270 Index NPN .....................
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272 Index signal ..... 17, 31, 38,
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280 Index Video Index This CD-ROM c
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282 Index Paper 52 Paper 53 Paper 5
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