Welcome to Scribd. Sign in or start your free trial to enjoy unlimited e-books, audiobooks & documents.Find out more
Download
Standard view
Full view
of .
Look up keyword or section
Like this
7Activity

Table Of Contents

Introduction
1.1 The Navigation Problem
1.2 Why Use Sonar?
1.3 Choosing a Representation
1.4 The Kalman Filter
1.5 Data Association
1.6 Overview
A Sonar Sensor Model
2.1 Introduction
2.2 Previous Work
2.3 Terminology
2.4 The Physics of Sonar
2.5 Predicting Sonar Data
2.6 Theory vs Practice
2.7 Regions of Constant Depth
2.8 Sparse vs Densely Sampled Data
2.9 Discussion
2.10 Summary
Model-based Localization
3.1 Introduction
3.2 Problem Statement
3.3 The Basic Localization Cycle
3.4 Algorithm Summary
3.5. OFF-LINE PROCESSING OF DENSELY SAMPLED DATA 65
3.5 Off-line Processing of Densely Sampled
3.6 Sparse Data Error Model
3.7 Tracking Planar Targets
3.8 Tracking Planes, Corners, and Cylinders
3.9 Hands-off Localization Results
3.10 Discussion
3.11 Alternative Approaches
3.12 Summary
Map Building
4.1 Introduction
4.2 Specular Event Interpretation
4.3. RULES FOR RCD-BASED SONAR INTERPRETATION 99
4.3 Rules for RCD-based Sonar Interpreta-
4.4 Map Building via Track Initiation
4.5 Experimental Results
4.6 Multiple Hypothesis Track Initiation
4.7 Alternative Approaches
4.8 Why Build Accurate Maps?
5.1 A Unified Approach to Navigation
5.2 Research Issues
5.3 Restatement of the problem
5.7 Summary
6.1 The Time Problem
6.2 Tracking Sonars
6.3 Orienteering
6.4 Related Research: Sensor Control
6.5 Summary
Why Use Sonar?
7.1 Sonar vs the Infrared Rangefinder
7.2 Sonar vs Vision
7.3 Sensor Fusion
7.4 Future Research
7.5 Contributions
Hardware and Software
A.1 Mobile Robots
A.2 The Polaroid Ultrasonic Ranging System
A.3 Software
0 of .
Results for:
No results containing your search query
P. 1
sonar_phd

sonar_phd

Ratings: (0)|Views: 127|Likes:
Published by sansure

More info:

Published by: sansure on Nov 19, 2010
Copyright:Attribution Non-commercial

Availability:

Read on Scribd mobile: iPhone, iPad and Android.
download as PDF, TXT or read online from Scribd
See more
See less

02/26/2013

pdf

text

original

You're Reading a Free Preview
Pages 5 to 44 are not shown in this preview.
You're Reading a Free Preview
Pages 49 to 64 are not shown in this preview.
You're Reading a Free Preview
Pages 69 to 151 are not shown in this preview.
You're Reading a Free Preview
Pages 160 to 202 are not shown in this preview.

Activity (7)

You've already reviewed this. Edit your review.
1 hundred reads
manjuvenamma liked this
siroos_afs liked this
siroos_afs liked this
hikumanena liked this
my_khan20027195 liked this
Krishna Prasad liked this

You're Reading a Free Preview

Download
scribd
/*********** DO NOT ALTER ANYTHING BELOW THIS LINE ! ************/ var s_code=s.t();if(s_code)document.write(s_code)//-->