Sonar sensing strategies

Develops theoretical and practical techniques to recover the pose of planar surfaces with minimal sensor readings and motion. A proof is given that two sonar readings suffice to precisely locate a single planar surface that returns the sonar's signal. An implementation is described that takes i...

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Bibliographic Details
Main Authors: Henderson, T.C., Bruderlin, B., Dekhil, M., Schenkat, L., Veigel, L.
Format: Conference Proceeding
Language:English
Subjects:
Cities and towns
Computer science
Indoor environments
Optical reflection
Sensor phenomena and characterization
Signal analysis
Sonar detection
Transmitters
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Description
Summary:Develops theoretical and practical techniques to recover the pose of planar surfaces with minimal sensor readings and motion. A proof is given that two sonar readings suffice to precisely locate a single planar surface that returns the sonar's signal. An implementation is described that takes into account the physical restrictions on actual Polaroid sensors and experiments are described based on actual Polaroid sensor data.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1996.503800