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A statistical estimation method for segmentation of sonar range data

A statistical estimation method for segmentation of sonar range data In this paper, we describe how to deal with an important sensorial activity that ultrasonic echo-locating systems for mobile robot navigation have often to perform, namely the extraction of straight line segments from range data and the accurate localization of the corresponding planar targets. It is commonplace that range data segmentation starts with using least squares interpolation algorithms for obtaining straight line segments: it is our goal to prove that caution must be called for in order to avoid somewhat misleading results. The case study concerns the use of a linear array formed by three ultrasonic transducers in a 2D specular environment composed of line and point acoustic targets. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

A statistical estimation method for segmentation of sonar range data

Autonomous Robots , Volume 1 (2) – Nov 13, 2004

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References (25)

Publisher
Springer Journals
Copyright
Copyright
Subject
Engineering; Robotics and Automation; Artificial Intelligence; Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/BF00711255
Publisher site
See Article on Publisher Site

Abstract

In this paper, we describe how to deal with an important sensorial activity that ultrasonic echo-locating systems for mobile robot navigation have often to perform, namely the extraction of straight line segments from range data and the accurate localization of the corresponding planar targets. It is commonplace that range data segmentation starts with using least squares interpolation algorithms for obtaining straight line segments: it is our goal to prove that caution must be called for in order to avoid somewhat misleading results. The case study concerns the use of a linear array formed by three ultrasonic transducers in a 2D specular environment composed of line and point acoustic targets.

Journal

Autonomous RobotsSpringer Journals

Published: Nov 13, 2004

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