Robotic Navigation and Mapping with Radar

Robotic Navigation and Mapping with Radar

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Focusing on autonomous robotic applications, this cutting-edge resource offer you a practical treatment of short-range radar processing for reliable object detection at the ground level. This unique book demonstrates probabilistic radar models and detection algorithms specifically for robotic land vehicles. It examines grid based robotic mapping with radar based on measurement likelihood estimation. You find detailed coverage of simultaneous localization and Map Building (SLAM) a€“ an area referred to as the qHoly Grailq of autonomous robotic research. The book derives an extended Kalman Filter SLAM algorithm which exploits the penetrating ability of radar. This algorithm allows for the observation of visually occluded objects, as well as the usual directly observed objects, which contributes to a robot's position and the map state update. Moreover, you discover how the Random Finite Set (RFS) provides a more appropriate approach for representing radar based maps than conventional frameworks.This figure is shown merely for reference purposes, so that visual comparison between now grounda€”truth referenced clusters of ... 40 I30 I20 I10 O 10 20 3O 40 50 Meters Figure 9.2 OS-CFAR radar detections, superimposed onto the vehiclea#39;sanbsp;...

Title:Robotic Navigation and Mapping with Radar
Author: Martin Adams, Ebi Jose
Publisher:Artech House - 2012

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