A method of ultrasonic sensor data integration for floorplan recognition

A method to estimate the positions of the ultrasonic echo reflection points in the mobile robot's environment for indoor floorplan recognition is proposed, and experimental results are shown. The method utilizes the wide beamwidth of the ultrasonic sensor by integrating the pulsed echoes measured at different rotation angles of the sensor. The bearing of the reflection points is estimated by using the transmission gain, the reception gain, and the measurement gain of the ultrasonic transducer. The distance to the reflection points is estimated by the correlation detection.<
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