Mobile robot sonar for target localization and classification
International Journal of Robotics Research
Directional Processing of Ultrasonic Arc Maps and its Comparison with Existing Techniques
International Journal of Robotics Research
Probabilistic Spectrum Based Azimuth Estimation with a Binaural Robotic Bat Head
ICAS '08 Proceedings of the Fourth International Conference on Autonomic and Autonomous Systems
The CIRCE head: a biomimetic sonar system
ICANN'05 Proceedings of the 15th international conference on Artificial Neural Networks: biological Inspirations - Volume Part I
Biomimetic Sonar System Performing Spectrum-Based Localization
IEEE Transactions on Robotics
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This paper presents an advanced bio-inspired binaural sonar sensor capable of localizing reflectors in 3D space with a single reading. The technique makes use of broadband spectral cues in the received echoes only. Two artificial pinnae act as complex direction-dependent spectral filters on the echoes returning from the ensonified reflector. The 芒聙聹active head-related transfer function芒聙聺 (AHRTF) is introduced to describe this spectral filtering as a function of the reflector angle, taking into account the transmitter radiation pattern, both pinnae and the particular sonar head geometry. 3D localization is performed by selecting the azimuth芒聙聰elevation pair with the highest a posteriori probability, given the binaural target echo spectrum. Experimental 3D localization results of a ball reflector show that the AHRTF carries sufficient information to discriminate between different reflector locations under realistic noise conditions. In addition, experiments with more complex reflectors illustrate that the AHRTF dominates the echo spectrum, allowing 3D localization in the presence of spectrum distortions caused by unknown reflector filtering. These experiments show that a fairly simple sonar device can extract more spatial information about realistic objects in its direct surroundings than is conventionally believed.