Enabling location and environment awareness in cognitive radios
Computer Communications
Effective maximum likelihood grid map withconflict evaluation filter using sonar sensors
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
An advanced sonar ring design with 48 channels of continuous echo processing using matched filters
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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This paper presents a novel approach to high-resolution ultrasonic environment imaging for autonomous mobile systems. It describes the fusion of sensor data from multiple wide-angled ultrasonic transducers with overlapping detection cones for creating local environment models. A fitting technique defined as tangential regression is introduced that considers sensor properties as well as physical reflection properties of ultrasound. This allows a reliable detection and localization of straight-line segments which describe the boundary of geometric objects. Experimental results show that straight-line segments extracted at different robot locations can be aggregated and merged in order to obtain a global environment map