000 02832nam a22004455i 4500
001 978-3-642-10345-2
003 DE-He213
005 20140220084528.0
007 cr nn 008mamaa
008 100301s2010 gw | s |||| 0|eng d
020 _a9783642103452
_9978-3-642-10345-2
024 7 _a10.1007/978-3-642-10345-2
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aWallgrün, Jan Oliver.
_eauthor.
245 1 0 _aHierarchical Voronoi Graphs
_h[electronic resource] :
_bSpatial Representation and Reasoning for Mobile Robots /
_cby Jan Oliver Wallgrün.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2010.
300 _aXXIV, 218p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
505 0 _aRobot Mapping -- Voronoi-Based Spatial Representations -- Simplification and Hierarchical Voronoi Graph Construction -- Voronoi Graph Matching for Data Association -- Global Mapping: Minimal Route Graphs Under Spatial Constraints -- Experimental Evaluation -- Conclusions and Outlook.
520 _aVoronoi graphs and their hierarchical extensions have become a widely used tool for deriving abstract spatial representations from environmental data. They are currently being studied and applied in several subfields of computer science such as AI and robotics, computational geometry, and geoinformatics. This book investigates the application of hierarchical Voronoi graphs for the internal spatial memory of a mobile robot, focusing on the robot mapping problem of deriving the correct representation from uncertain data. The author develops and illustrates several fundamental techniques for constructing hierarchical Voronoi graph representations, employing a broad set of methods ranging from spatial abstraction approaches to graph matching, search, and qualitative spatial reasoning. It is further shown how the developed tools can be combined to form an overall robot mapping system. The presented material is intended for researchers, students, and practitioners with backgrounds in robotics, AI, or related fields who are engaged with spatial representations and reasoning.
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783642103025
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-642-10345-2
912 _aZDB-2-ENG
999 _c111736
_d111736