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High-Resolution Ultrasonic Environment Imaging

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2 Author(s)
Bank, D. ; Environ. Recognition Dept., DaimlerChrysler Res. & Technol., Ulm ; Kampke, T.

This paper presents a novel approach to high-resolution ultrasonic environment imaging for autonomous mobile systems. It describes the fusion of sensor data from multiple wide-angled ultrasonic transducers with overlapping detection cones for creating local environment models. A fitting technique defined as tangential regression is introduced that considers sensor properties as well as physical reflection properties of ultrasound. This allows a reliable detection and localization of straight-line segments which describe the boundary of geometric objects. Experimental results show that straight-line segments extracted at different robot locations can be aggregated and merged in order to obtain a global environment map

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Robotics, IEEE Transactions on  (Volume:23 ,  Issue: 2 )