Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor

Authors:
Ömür Bozma;Roman Kuc
Affiliations:
-;-
Venue:
IEEE Transactions on Pattern Analysis and Machine Intelligence
Year:
1991

Citing 8
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Abstract

The physical properties of acoustic sensors are exploited to obtain information about the environment for sonar map building. A theoretical formulation for interpreting the sensor databases on the physical principles of acoustic propagation and reflection is presented. A characterization of the sonar scan that allows the differentiation of planes, corners, and edges in a specular environment is described. A single sensor mounted on an autonomous vehicle in a laboratory verifies the technique. The implications for sonar map building and the limitations of differentiating elements with one sensor are discussed.