Question

(a) Explain the difference between active and passive sensors for mobile robots. Name one active range sensor and explain its working principle. (b) Suppose a laser range sensor has 360 degree coverage in a 2D plane. To extract line features from the raw point cloud measurement, what are the main steps? (c) Suppose a robot has a laser range finder of 360 coverage. How would you transform the raw data into a feature space that can be distinguishable for different locations? Use the map as an example to explain, if necessary. MAP

Answer 1

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