Naslov
Spatial maps building using fast texture analysis of rotating sonar sensor data for mobile robots

Autori
Mumolo, Enzo ; Lenac, Kristijan ; Nolich, Massimiliano

Izvornik
International journal of pattern recognition and artificial intelligence (0218-0014) 19 (2005), 1; 1-20

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
mobile robot; rotating ultrasonic sensor; texture analysis; signal enhancement; echo location

Sažetak
This paper presents a novel, fast algorithm for accurate detection of the shape of targets around a mobile robot using a single rotating sonar element. The rotating sonar yields an image built up by the reflections of an ultrasonic beam directed at different scan angles. The image is then interpreted with an image-understanding approach based on texture analysis. Several important tasks are performed in this way, such as noise removal, echo correction and restoration. All these processes are obtained by estimating and restoring the degree of texture continuity. Texture analysis, in fact, allows us to look at the image on a large scale thus giving the possibility to infer the overall behavior of the reflection process. The algorithm has been integrated in a mobile robot. However, the algorithm is not suitable for working during the mobile robot movement, rather it can be used during the period when the robot stays in a fixed position.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

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