A Fast Firing Binaural System for Ultrasonic Pattern Recognition

Authors:
Fernando Moita;Ana C. Lopes;Urbano Nunes
Affiliations:
ISR, Institute of Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal 3030-290;ISR, Institute of Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal 3030-290;ISR, Institute of Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal 3030-290
Venue:
Journal of Intelligent and Robotic Systems
Year:
2007

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Abstract

A binaural sonar configuration with capability to detect and identify walls, edges and corners on real-time is presented in this work. A new multi-echo ultra-fast firing method increases the sonar acquisition rate, and provides crossed measurements without interference. A feature map is built on-line using Bayesian updating and classification rules. Three classifiers are implemented and analyzed: minimum risk (MR), maximum a posteriori (MAP), and minimum distance (MD). Experimental results of ultrasonic reflector recognition, using data collected in a specular indoor environment are presented in the paper.