MARC details
| 000 -LEADER |
|---|
| fixed length control field |
06728cam a2200397 i 4500 |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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| control field |
20211105143911.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
|---|
| fixed length control field |
100707s2010 gw a b 000 0 eng d |
| 011 ## - LINKING LIBRARY OF CONGRESS CONTROL NUMBER [OBSOLETE] |
|---|
| Local cataloguing issues note |
BIB MATCHES WORLDCAT |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
|---|
| International Standard Book Number |
3642103022 |
| Qualifying information |
hbk. |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
|---|
| International Standard Book Number |
9783642103025 |
| Qualifying information |
hbk. |
| 035 ## - SYSTEM CONTROL NUMBER |
|---|
| System control number |
(ATU)b11720268 |
| 035 ## - SYSTEM CONTROL NUMBER |
|---|
| System control number |
(OCoLC)502406561 |
| 040 ## - CATALOGING SOURCE |
|---|
| Original cataloging agency |
UKM |
| Language of cataloging |
eng |
| Description conventions |
rda |
| Transcribing agency |
UKM |
| Modifying agency |
YDXCP |
| -- |
BWX |
| -- |
DCU |
| -- |
BTCTA |
| -- |
EMU |
| -- |
ATU |
| 042 ## - AUTHENTICATION CODE |
|---|
| Authentication code |
ukblcatcopy |
| 050 #4 - LIBRARY OF CONGRESS CALL NUMBER |
|---|
| Classification number |
TJ211.4 |
| Item number |
.W34 2010 |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER |
|---|
| Classification number |
629.893201516 |
| Edition number |
22 |
| 100 1# - MAIN ENTRY--PERSONAL NAME |
|---|
| Personal name |
Wallgrün, Jan Oliver, |
| Relator term |
author. |
| 9 (RLIN) |
269106 |
| 245 10 - TITLE STATEMENT |
|---|
| Title |
Hierarchical Voronoi graphs : |
| Remainder of title |
spatial representation and reasoning for mobile robots / |
| Statement of responsibility, etc. |
Jan Oliver Wallgrün. |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Place of production, publication, distribution, manufacture |
Heidelberg ; |
| -- |
London : |
| Name of producer, publisher, distributor, manufacturer |
Springer, |
| Date of production, publication, distribution, manufacture, or copyright notice |
[2010] |
| 264 #4 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Date of production, publication, distribution, manufacture, or copyright notice |
©2010 |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
xxiii, 218 pages : |
| Other physical details |
illustrations (some colour) ; |
| Dimensions |
24 cm |
| 336 ## - CONTENT TYPE |
|---|
| Content type term |
text |
| Content type code |
txt |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
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| Media type term |
unmediated |
| Media type code |
n |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
|---|
| Carrier type term |
volume |
| Carrier type code |
nc |
| Source |
rdacarrier |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
|---|
| Bibliography, etc. note |
Includes bibliographical references. |
| 505 00 - FORMATTED CONTENTS NOTE |
|---|
| Miscellaneous information |
1. |
| Title |
Introduction -- |
| Miscellaneous information |
1.1. |
| Title |
The Robot Mapping Problem -- |
| Miscellaneous information |
1.2. |
| Title |
The Spatial Representation Perspective -- |
| Miscellaneous information |
1.3. |
| Title |
The Uncertainty Handling Perspective -- |
| Miscellaneous information |
1.4. |
| Title |
Combining Representation and Uncertainty Handling -- |
| Miscellaneous information |
1.5. |
| Title |
Route Graphs Based on Generalized Voronoi Diagrams -- |
| Miscellaneous information |
1.6. |
| Title |
Theses, Goals, and Contributions of This Book -- |
| Miscellaneous information |
1.7. |
| Title |
Outline of This Book -- |
| Miscellaneous information |
2. |
| Title |
Robot Mapping -- |
| Miscellaneous information |
2.1. |
| Title |
A Spatial Model for What? -- |
| Miscellaneous information |
2.1.1. |
| Title |
Navigation -- |
| Miscellaneous information |
2.1.2. |
| Title |
Systematic Exploration -- |
| Miscellaneous information |
2.1.3. |
| Title |
Communication -- |
| Miscellaneous information |
2.2. |
| Title |
Correctness, Consistency, and Criteria -- |
| Miscellaneous information |
2.2.1. |
| Title |
Extractability and Maintainability -- |
| Miscellaneous information |
2.2.2. |
| Title |
Information Adequacy -- |
| Miscellaneous information |
2.2.3. |
| Title |
Efficiency and Scalability -- |
| Miscellaneous information |
2.3. |
| Title |
Spatial Representation and Organization -- |
| Miscellaneous information |
2.3.1. |
| Title |
Basic Spatial Representation Approaches -- |
| Miscellaneous information |
2.3.2. |
| Title |
Coordinate-Based Representations -- |
| Miscellaneous information |
2.3.3. |
| Title |
Relational Representations -- |
| Miscellaneous information |
2.3.4. |
| Title |
Organizational Forms -- |
| Miscellaneous information |
2.4. |
| Title |
Uncertainty Handling Approaches -- |
| Miscellaneous information |
2.4.1. |
| Title |
Incremental Approaches -- |
| Miscellaneous information |
2.4.2. |
| Title |
Multi-pass Approaches -- |
| Miscellaneous information |
2.5. |
| Title |
Conclusions -- |
| Miscellaneous information |
3. |
| Title |
Voronoi-Based Spatial Representations -- |
| Miscellaneous information |
3.1. |
| Title |
Voronoi Diagram and Generalized Voronoi Diagram -- |
| Miscellaneous information |
3.2. |
| Title |
Generalized Voronoi Graph and Embedded Generalized Voronoi Graph -- |
| Miscellaneous information |
3.3. |
| Title |
Annotated Generalized Voronoi Graphs -- |
| Miscellaneous information |
3.4. |
| Title |
Hierarchical Annotated Voronoi Graphs -- |
| Miscellaneous information |
3.5. |
| Title |
Partial and Local Voronoi Graphs -- |
| Miscellaneous information |
3.6. |
| Title |
An Instance of the HAGVG -- |
| Miscellaneous information |
3.7. |
| Title |
Stability Problems of Voronoi-Based Representations -- |
| Miscellaneous information |
3.8. |
| Title |
Strengths and Weaknesses of the Representation -- |
| Miscellaneous information |
4. |
| Title |
Simplification and Hierarchical Voronoi Graph Construction -- |
| Miscellaneous information |
4.1. |
| Title |
Relevance Measures for Voronoi Nodes -- |
| Miscellaneous information |
4.2. |
| Title |
Computation of Relevance Values -- |
| Miscellaneous information |
4.3. |
| Title |
Voronoi Graph Simplification -- |
| Miscellaneous information |
4.4. |
| Title |
HAGVG Construction -- |
| Miscellaneous information |
4.5. |
| Title |
Admitting Incomplete Information -- |
| Miscellaneous information |
4.6. |
| Title |
Improving the Efficiency of the Relevance Computation -- |
| Miscellaneous information |
4.7. |
| Title |
Incremental Computation -- |
| Miscellaneous information |
4.8. |
| Title |
Application Scenarios -- |
| Miscellaneous information |
4.8.1. |
| Title |
Incremental HAGVG Construction -- |
| Miscellaneous information |
4.8.2. |
| Title |
Removal of Unstable Parts -- |
| Miscellaneous information |
4.8.3. |
| Title |
Automatic Route Graph Generation from Vector Data -- |
| Miscellaneous information |
5. |
| Title |
Voronoi Graph Matching for Data Association -- |
| Miscellaneous information |
5.1. |
| Title |
The Data Association Problem -- |
| Miscellaneous information |
5.1.1. |
| Title |
Data Associations and the Interpretation Tree -- |
| Miscellaneous information |
5.1.2. |
| Title |
Data Association Approaches -- |
| Miscellaneous information |
5.2. |
| Title |
AGVG Matching Based on Ordered Tree Edit Distance -- |
| Miscellaneous information |
5.2.1. |
| Title |
Ordered Tree Matching Based on Edit Distance -- |
| Miscellaneous information |
5.2.2. |
| Title |
Overall Edit Distance -- |
| Miscellaneous information |
5.2.3. |
| Title |
Modeling Removal and Addition Costs -- |
| Miscellaneous information |
5.2.4. |
| Title |
Optimizations -- |
| Miscellaneous information |
5.2.5. |
| Title |
Complexity -- |
| Miscellaneous information |
5.3. |
| Title |
Incorporating Constraints -- |
| Miscellaneous information |
5.3.1. |
| Title |
Unary Constraints Based on Pose Estimates and Node Similarity -- |
| Miscellaneous information |
5.3.2. |
| Title |
Binary Constraints Based on Relative Distance -- |
| Miscellaneous information |
5.3.3. |
| Title |
Ternary Angle Constraints -- |
| Miscellaneous information |
5.4. |
| Title |
Map Merging Based on a Computed Data Association -- |
| Miscellaneous information |
6. |
| Title |
Global Mapping: Minimal Route Graphs Under Spatial Constraints -- |
| Miscellaneous information |
6.1. |
| Title |
Theoretical Problem -- |
| Miscellaneous information |
6.2. |
| Title |
Branch and Bound Search for Minimal Model Finding -- |
| Miscellaneous information |
6.2.1. |
| Title |
Search Through the Interpretation Tree -- |
| Miscellaneous information |
6.2.2. |
| Title |
Best-First Branch and Bound Search Based on Solution Size -- |
| Miscellaneous information |
6.2.3. |
| Title |
Expand and Update Operations -- |
| Miscellaneous information |
6.2.4. |
| Title |
Two Variants of the Minimal Model Finding Problem -- |
| Miscellaneous information |
6.3. |
| Title |
Pruning Based on Spatial Constraints -- |
| Miscellaneous information |
6.3.1. |
| Title |
Checking Planarity -- |
| Miscellaneous information |
6.3.2. |
| Title |
Checking Spatial Consistency -- |
| Miscellaneous information |
6.3.3. |
| Title |
Incorporation into the Search Algorithm -- |
| Miscellaneous information |
6.4. |
| Title |
Combining Minimal Route Graph Mapping and AGVG Representations -- |
| Miscellaneous information |
7. |
| Title |
Experimental Evaluation -- |
| Miscellaneous information |
7.1. |
| Title |
Relevance Assessment and HAGVG Construction -- |
| Miscellaneous information |
7.1.1. |
| Title |
Efficiency of the Relevance Computation Algorithms -- |
| Miscellaneous information |
7.1.2. |
| Title |
Combining the HAGVG Construction Methods with a Grid-Based FastSLAM Approach -- |
| Miscellaneous information |
7.2. |
| Title |
Evaluation of the Voronoi-Based Data Association -- |
| Miscellaneous information |
7.3. |
| Title |
Evaluation of the Minimal Route Graph Approach -- |
| Miscellaneous information |
7.3.1. |
| Title |
Solution Quality -- |
| Miscellaneous information |
7.3.2. |
| Title |
Pruning Efficiency -- |
| Miscellaneous information |
7.3.3. |
| Title |
Absolute vs. Relative Direction Information -- |
| Miscellaneous information |
7.3.4. |
| Title |
Overall Computational Costs -- |
| Miscellaneous information |
7.3.5. |
| Title |
Application to Real AGVG Data -- |
| Miscellaneous information |
7.4. |
| Title |
A Complete Multi-hypothesis Mapping System -- |
| Miscellaneous information |
7.4.1. |
| Title |
Local Metric Mapping and Local AGVG Computation -- |
| Miscellaneous information |
7.4.2. |
| Title |
Data Association for Node Tracking and History Generation -- |
| Miscellaneous information |
7.4.3. |
| Title |
Global Mapping and Post-processing -- |
| Miscellaneous information |
7.4.4. |
| Title |
Experiments -- |
| Miscellaneous information |
7.4.5. |
| Title |
Discussion -- |
| Miscellaneous information |
8. |
| Title |
Conclusions and Outlook -- |
| Miscellaneous information |
8.1. |
| Title |
Summary and Conclusions -- |
| Miscellaneous information |
8.1.1. |
| Title |
Extraction and HAGVG Construction -- |
| Miscellaneous information |
8.1.2. |
| Title |
Data Association and Matching -- |
| Miscellaneous information |
8.1.3. |
| Title |
Minimal Route Graph Model Finding -- |
| Miscellaneous information |
8.1.4. |
| Title |
Complete Mapping Approaches -- |
| Miscellaneous information |
8.2. |
| Title |
Outlook -- |
| Miscellaneous information |
8.2.1. |
| Title |
Extensions of the Work Described in Chaps. 3 - -- |
| Miscellaneous information |
8.2.2. |
| Title |
Combining Voronoi Graphs and Uncertainty Handling -- |
| Miscellaneous information |
8.2.3. |
| Title |
Challenges for Voronoi-Based Representation Approaches -- |
| Miscellaneous information |
8.2.4. |
| Title |
Challenges for Qualitative Spatial Reasoning -- |
| Miscellaneous information |
8.2.5. |
| Title |
The Future: Towards Spatially Competent Mobile Robots -- |
| Miscellaneous information |
Appendix A. |
| Title |
Mapping as Probabilistic State Estimation -- |
| Miscellaneous information |
1. |
| Title |
The Recursive Bayes Filter -- |
| Miscellaneous information |
2. |
| Title |
Parametric Filters -- |
| Miscellaneous information |
2.1. |
| Title |
Kalman Filter -- |
| Miscellaneous information |
2.2. |
| Title |
Extended Kalman Filter -- |
| Miscellaneous information |
3. |
| Title |
Nonparametric Filters -- |
| Miscellaneous information |
3.1. |
| Title |
Particle Filter -- |
| Miscellaneous information |
3.2. |
| Title |
Rao-Blackwellized Particle Filter and FastSLAM -- |
| Miscellaneous information |
Appendix B. |
| Title |
Qualitative Spatial Reasoning -- |
| Miscellaneous information |
1. |
| Title |
Qualitative Constraint Calculi -- |
| Miscellaneous information |
2. |
| Title |
Weak vs. Strong Operations -- |
| Miscellaneous information |
3. |
| Title |
Constraint Networks and Consistency -- |
| Miscellaneous information |
4. |
| Title |
Checking Consistency. |
| 588 ## - SOURCE OF DESCRIPTION NOTE |
|---|
| Source of description note |
Machine converted from AACR2 source record. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Robots |
| General subdivision |
Dynamics |
| 9 (RLIN) |
326553 |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Mobile robots |
| General subdivision |
Programming |
| 9 (RLIN) |
783465 |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Voronoi polygons |
| 9 (RLIN) |
340196 |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Spatial data infrastructures |
| 9 (RLIN) |
333194 |
| 907 ## - LOCAL DATA ELEMENT G, LDG (RLIN) |
|---|
| a |
.b11720268 |
| b |
22-08-17 |
| c |
27-10-15 |
| 998 ## - LOCAL CONTROL INFORMATION (RLIN) |
|---|
| -- |
b |
| -- |
c |
| Operator's initials, OID (RLIN) |
06-04-16 |
| Cataloger's initials, CIN (RLIN) |
m |
| First date, FD (RLIN) |
a |
| -- |
eng |
| -- |
gw |
| -- |
0 |
| 945 ## - LOCAL PROCESSING INFORMATION (OCLC) |
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| a |
629.893201516 WAL |
| g |
1 |
| i |
A457574B |
| j |
0 |
| l |
cmain |
| o |
- |
| p |
$131.43 |
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0 |
| u |
0 |
| v |
0 |
| w |
0 |
| x |
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| y |
.i13027864 |
| z |
29-10-15 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
|---|
| Koha item type |
Book |
