Building a sonar map in a specular environment using a singlemobile sensor
Bozma, O.
Kuc, R.
Dept. of Electr. Eng., Yale Univ., New Haven, CT ;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Dec 1991
Volume: 13,
Issue: 12
On page(s): 1260-1269
ISSN: 0162-8828
References Cited: 31
CODEN: ITPIDJ
INSPEC Accession Number: 4093267
Digital Object Identifier: 10.1109/34.107000
Current Version Published: 2002-08-06
Abstract
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
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