Classification of indoor environment using only one ultrasonic sensor

We attempt to show that one ultrasonic sensor and one measure of a target is sufficient to classify indoor environment in four classes. We think the information in the echo even with electronic saturation can be extracted to perform the classification using statistical methods. We compare two statistical approaches (linear discriminant analysis and quadratic discriminant analysis). The feature extraction is also studied and the reduction of parameters is obtained with a sequential backward selection approach. Finally, we show qualitative performances on a real indoor environment.