Mobile Robot Localization Using Sonar
IEEE Transactions on Pattern Analysis and Machine Intelligence
Tracking and data association
Differentiating Sonar Reflections from Corners and Planes by Employing an Intelligent Sensor
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mobile robot sonar for target localization and classification
International Journal of Robotics Research
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Intelligent Sensor Approach to Differentiating Sonar Reflections from Corners and Planes
Intelligent Autonomous Systems, An International Conference
Directional Processing of Ultrasonic Arc Maps and its Comparison with Existing Techniques
International Journal of Robotics Research
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This paper is part II of a paper published in the previous issue of Robotica. This part proceeds from the assumption that 3D features have been calssified into either a plane, a 2D corner type I or II, or a 3D corner using the Maximum Likelihood Estimator. The location of the 3D features from the results of the Maximum Likelihood Estimation are derived here. Experimental results characterising the ultrasonic sensor and its application to a robot localisation problem are presented in this paper.