000			06728cam a2200397 i 4500
005			20211105143911.0
008			100707s2010 gw a b 000 0 eng d
011			_aBIB MATCHES WORLDCAT
020			_a3642103022 _qhbk.
020			_a9783642103025 _qhbk.
035			_a(ATU)b11720268
035			_a(OCoLC)502406561
040			_aUKM _beng _erda _cUKM _dYDXCP _dBWX _dDCU _dBTCTA _dEMU _dATU
042			_aukblcatcopy
050		4	_aTJ211.4 _b.W34 2010
082	0	4	_a629.893201516 _222
100	1		_aWallgrün, Jan Oliver, _eauthor. _9269106
245	1	0	_aHierarchical Voronoi graphs : _bspatial representation and reasoning for mobile robots / _cJan Oliver Wallgrün.
264		1	_aHeidelberg ; _aLondon : _bSpringer, _c[2010]
264		4	_c©2010
300			_axxiii, 218 pages : _billustrations (some colour) ; _c24 cm
336			_atext _btxt _2rdacontent
337			_aunmediated _bn _2rdamedia
338			_avolume _bnc _2rdacarrier
504			_aIncludes bibliographical references.
505	0	0	_g1. _tIntroduction -- _g1.1. _tThe Robot Mapping Problem -- _g1.2. _tThe Spatial Representation Perspective -- _g1.3. _tThe Uncertainty Handling Perspective -- _g1.4. _tCombining Representation and Uncertainty Handling -- _g1.5. _tRoute Graphs Based on Generalized Voronoi Diagrams -- _g1.6. _tTheses, Goals, and Contributions of This Book -- _g1.7. _tOutline of This Book -- _g2. _tRobot Mapping -- _g2.1. _tA Spatial Model for What? -- _g2.1.1. _tNavigation -- _g2.1.2. _tSystematic Exploration -- _g2.1.3. _tCommunication -- _g2.2. _tCorrectness, Consistency, and Criteria -- _g2.2.1. _tExtractability and Maintainability -- _g2.2.2. _tInformation Adequacy -- _g2.2.3. _tEfficiency and Scalability -- _g2.3. _tSpatial Representation and Organization -- _g2.3.1. _tBasic Spatial Representation Approaches -- _g2.3.2. _tCoordinate-Based Representations -- _g2.3.3. _tRelational Representations -- _g2.3.4. _tOrganizational Forms -- _g2.4. _tUncertainty Handling Approaches -- _g2.4.1. _tIncremental Approaches -- _g2.4.2. _tMulti-pass Approaches -- _g2.5. _tConclusions -- _g3. _tVoronoi-Based Spatial Representations -- _g3.1. _tVoronoi Diagram and Generalized Voronoi Diagram -- _g3.2. _tGeneralized Voronoi Graph and Embedded Generalized Voronoi Graph -- _g3.3. _tAnnotated Generalized Voronoi Graphs -- _g3.4. _tHierarchical Annotated Voronoi Graphs -- _g3.5. _tPartial and Local Voronoi Graphs -- _g3.6. _tAn Instance of the HAGVG -- _g3.7. _tStability Problems of Voronoi-Based Representations -- _g3.8. _tStrengths and Weaknesses of the Representation -- _g4. _tSimplification and Hierarchical Voronoi Graph Construction -- _g4.1. _tRelevance Measures for Voronoi Nodes -- _g4.2. _tComputation of Relevance Values -- _g4.3. _tVoronoi Graph Simplification -- _g4.4. _tHAGVG Construction -- _g4.5. _tAdmitting Incomplete Information -- _g4.6. _tImproving the Efficiency of the Relevance Computation -- _g4.7. _tIncremental Computation -- _g4.8. _tApplication Scenarios -- _g4.8.1. _tIncremental HAGVG Construction -- _g4.8.2. _tRemoval of Unstable Parts -- _g4.8.3. _tAutomatic Route Graph Generation from Vector Data -- _g5. _tVoronoi Graph Matching for Data Association -- _g5.1. _tThe Data Association Problem -- _g5.1.1. _tData Associations and the Interpretation Tree -- _g5.1.2. _tData Association Approaches -- _g5.2. _tAGVG Matching Based on Ordered Tree Edit Distance -- _g5.2.1. _tOrdered Tree Matching Based on Edit Distance -- _g5.2.2. _tOverall Edit Distance -- _g5.2.3. _tModeling Removal and Addition Costs -- _g5.2.4. _tOptimizations -- _g5.2.5. _tComplexity -- _g5.3. _tIncorporating Constraints -- _g5.3.1. _tUnary Constraints Based on Pose Estimates and Node Similarity -- _g5.3.2. _tBinary Constraints Based on Relative Distance -- _g5.3.3. _tTernary Angle Constraints -- _g5.4. _tMap Merging Based on a Computed Data Association -- _g6. _tGlobal Mapping: Minimal Route Graphs Under Spatial Constraints -- _g6.1. _tTheoretical Problem -- _g6.2. _tBranch and Bound Search for Minimal Model Finding -- _g6.2.1. _tSearch Through the Interpretation Tree -- _g6.2.2. _tBest-First Branch and Bound Search Based on Solution Size -- _g6.2.3. _tExpand and Update Operations -- _g6.2.4. _tTwo Variants of the Minimal Model Finding Problem -- _g6.3. _tPruning Based on Spatial Constraints -- _g6.3.1. _tChecking Planarity -- _g6.3.2. _tChecking Spatial Consistency -- _g6.3.3. _tIncorporation into the Search Algorithm -- _g6.4. _tCombining Minimal Route Graph Mapping and AGVG Representations -- _g7. _tExperimental Evaluation -- _g7.1. _tRelevance Assessment and HAGVG Construction -- _g7.1.1. _tEfficiency of the Relevance Computation Algorithms -- _g7.1.2. _tCombining the HAGVG Construction Methods with a Grid-Based FastSLAM Approach -- _g7.2. _tEvaluation of the Voronoi-Based Data Association -- _g7.3. _tEvaluation of the Minimal Route Graph Approach -- _g7.3.1. _tSolution Quality -- _g7.3.2. _tPruning Efficiency -- _g7.3.3. _tAbsolute vs. Relative Direction Information -- _g7.3.4. _tOverall Computational Costs -- _g7.3.5. _tApplication to Real AGVG Data -- _g7.4. _tA Complete Multi-hypothesis Mapping System -- _g7.4.1. _tLocal Metric Mapping and Local AGVG Computation -- _g7.4.2. _tData Association for Node Tracking and History Generation -- _g7.4.3. _tGlobal Mapping and Post-processing -- _g7.4.4. _tExperiments -- _g7.4.5. _tDiscussion -- _g8. _tConclusions and Outlook -- _g8.1. _tSummary and Conclusions -- _g8.1.1. _tExtraction and HAGVG Construction -- _g8.1.2. _tData Association and Matching -- _g8.1.3. _tMinimal Route Graph Model Finding -- _g8.1.4. _tComplete Mapping Approaches -- _g8.2. _tOutlook -- _g8.2.1. _tExtensions of the Work Described in Chaps. 3 - -- _g8.2.2. _tCombining Voronoi Graphs and Uncertainty Handling -- _g8.2.3. _tChallenges for Voronoi-Based Representation Approaches -- _g8.2.4. _tChallenges for Qualitative Spatial Reasoning -- _g8.2.5. _tThe Future: Towards Spatially Competent Mobile Robots -- _gAppendix A. _tMapping as Probabilistic State Estimation -- _g1. _tThe Recursive Bayes Filter -- _g2. _tParametric Filters -- _g2.1. _tKalman Filter -- _g2.2. _tExtended Kalman Filter -- _g3. _tNonparametric Filters -- _g3.1. _tParticle Filter -- _g3.2. _tRao-Blackwellized Particle Filter and FastSLAM -- _gAppendix B. _tQualitative Spatial Reasoning -- _g1. _tQualitative Constraint Calculi -- _g2. _tWeak vs. Strong Operations -- _g3. _tConstraint Networks and Consistency -- _g4. _tChecking Consistency.
588			_aMachine converted from AACR2 source record.
650		0	_aRobots _xDynamics _9326553
650		0	_aMobile robots _xProgramming _9783465
650		0	_aVoronoi polygons _9340196
650		0	_aSpatial data infrastructures _9333194
907			_a.b11720268 _b22-08-17 _c27-10-15
998			_ab _ac _b06-04-16 _cm _da _feng _ggw _h0
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