Color-Encoded Structured Light for Rapid Active Ranging
IEEE Transactions on Pattern Analysis and Machine Intelligence
Physically Based Simulation Model for Acoustic Sensor Robot Navigation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Intelligent Sensor Approach to Differentiating Sonar Reflections from Corners and Planes
Intelligent Autonomous Systems, An International Conference
A Spatial Sampling Criterion for Sonar Obstacle Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mobile Robot Relocation from Echolocation Constraints
IEEE Transactions on Pattern Analysis and Machine Intelligence
Acquisition of modulation pulses for a multi-robot system using genetic algorithm
Proceedings of the 2002 ACM symposium on Applied computing
Sensor Selection by GMB-REM in Real Robot Position Estimation
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
A Physical Model-Based Analysis of Heterogeneous Environments Using Sonar-ENDURA Method
IEEE Transactions on Pattern Analysis and Machine Intelligence
Optimization of Pulse Pattern for a Multi-robot Sonar System Using Genetic Algorithm
IEA/AIE '02 Proceedings of the 15th international conference on Industrial and engineering applications of artificial intelligence and expert systems: developments in applied artificial intelligence
The Dempster-Shafer Approach to Map-Building for an Autonomous Mobile Robot with Fuzzy Controller
AFSS '02 Proceedings of the 2002 AFSS International Conference on Fuzzy Systems. Calcutta: Advances in Soft Computing
Directional Processing of Ultrasonic Arc Maps and its Comparison with Existing Techniques
International Journal of Robotics Research
A Fast Firing Binaural System for Ultrasonic Pattern Recognition
Journal of Intelligent and Robotic Systems
Advanced Adaptive Sonar for Mapping Applications
Journal of Intelligent and Robotic Systems
Improved occupancy grid mapping in specular environment
Robotics and Autonomous Systems
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A multitransducer, pulse/echo-ranging system is described that differentiates corner and plane reflectors by exploiting the physical properties of sound propagation. The amplitudes and ranges of reflected signals for the different transmitter and receiver pairs are processed to determine whether the reflecting object is a plane or a right-angle corner. In addition, the angle of inclination of the reflector with respect to the transducer orientation can be measured. Reflected signal amplitude and range values, as functions of inclination angle, provide the motivation for the differentiation algorithm. A system using two Polaroid transducers is described that correctly discriminates between corners and planes for inclination angles within +or-10 degrees of the transducer orientation. The two-transducer system is extended to a multitransducer array, allowing the system to operate over an extended range. An analysis comparing processing effort to estimation accuracy is performed.