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Building a sonar map in a specular environment using a single mobile sensor

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2 Author(s)
O. Bozma ; Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA ; R. Kuc

The physical properties of acoustic sensors are exploited to obtain information about the environment for sonar map building. A theoretical formulation for interpreting the sensor databases on the physical principles of acoustic propagation and reflection is presented. A characterization of the sonar scan that allows the differentiation of planes, corners, and edges in a specular environment is described. A single sensor mounted on an autonomous vehicle in a laboratory verifies the technique. The implications for sonar map building and the limitations of differentiating elements with one sensor are discussed

Published in:

IEEE Transactions on Pattern Analysis and Machine Intelligence  (Volume:13 ,  Issue: 12 )