Building a sonar map in a specular environment using a single mobile sensor
- 1 December 1991
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 13 (12) , 1260-1269
- https://doi.org/10.1109/34.107000
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.<>Keywords
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