Page 99 - Autonomous Mobile Robots

82 Autonomous Mobile Robots

Ground 90 40
truth 120 60
30

150 20 30
10

180 0

210 330

Target presence
240 300 probability
270 CA-CFAR

FIGURE 2.22 Comparison of CA-CFAR detector-based feature extraction and feature
detection based on target presence probability.

25

20

15

Error (m) 10

5

0

–5

–10
0 50 100 150 200 250 300 350
Azimuth (degrees)

FIGURE 2.23 The difference between the ground truth range values and the range
estimates from the target presence probability.

© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c002” — 2006/3/31 — 17:29 — page 82 — #42