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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.
Autonomous Robots – Springer Journals
Published: Nov 13, 2004
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