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Estimating Doppler shift with a coarse cochlear filterbank

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2 Author(s)
Carmena, J.M. ; Inst. of Perception, Action & Behaviour, Edinburgh Univ., UK ; Hallam, J.C.T.

In this work, RoBat, a biomimetic sonarhead mounted on a mobile robot is presented as a platform in which to study perception in bats. After addressing the relation between bats and robots, a biologically plausible model of the bat's cochlea is described. The model consists of a filterbank with an artificial neural network (ANN) connected at the end of it. The ANN is used for extracting the frequency of the received echoes. Thus, Doppler shifts, which play a fundamental role in bat navigation, can be successfully estimated. Experiments with simulated and real data show the efficiency of the system when used on a LEGO mobile robot

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Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:1 )

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