Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
Fuente:
Redalyc
Saved in:
| Main Author: | |
|---|---|
| Format: | Artículo científico |
| Language: | en |
| Published: |
Universidad Nacional de Colombia
2017
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1876452654085832704 |
|---|---|
| author | Fabio T Moreno-Ortiz |
| author_facet | Fabio T Moreno-Ortiz |
| contents | Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps Fabio T Moreno-Ortiz Eduardo Castillo-Castañeda Antonio Hernández-Zavala Ingeniería SLAM beam pattern spatial voting sonar resolution Ultrasonic arc map In this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digitize the uncertainty caps and place them in a three-dimensional map. Through the spatial voting method, the generated voxels are elected in order to distinguish those which mark the true position of an obstacle and discard those that are produced by cross talk, noise, fake ranges, and angular resolution. The results show that it is possible to obtain sufficient information to build a three-dimensional map for navigation by employing inexpensive sensors and a low power data processing. 2017 artículo científico 0120-5609 https://www.redalyc.org/articulo.oa?id=64354059005 en http://www.redalyc.org/revista.oa?id=643 Ingeniería e Investigación application/pdf Universidad Nacional de Colombia Ingeniería e Investigación (Colombia) Num.3 Vol.37 |
| format | Artículo científico |
| id | redalyc_64354059005 |
| institution | Redalyc |
| language | en |
| publishDate | 2017 |
| publisher | Universidad Nacional de Colombia |
| spellingShingle | Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps Fabio T Moreno-Ortiz Ingeniería SLAM beam pattern spatial voting sonar resolution Ultrasonic arc map Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps Fabio T Moreno-Ortiz Eduardo Castillo-Castañeda Antonio Hernández-Zavala Ingeniería SLAM beam pattern spatial voting sonar resolution Ultrasonic arc map In this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digitize the uncertainty caps and place them in a three-dimensional map. Through the spatial voting method, the generated voxels are elected in order to distinguish those which mark the true position of an obstacle and discard those that are produced by cross talk, noise, fake ranges, and angular resolution. The results show that it is possible to obtain sufficient information to build a three-dimensional map for navigation by employing inexpensive sensors and a low power data processing. 2017 artículo científico 0120-5609 https://www.redalyc.org/articulo.oa?id=64354059005 en http://www.redalyc.org/revista.oa?id=643 Ingeniería e Investigación application/pdf Universidad Nacional de Colombia Ingeniería e Investigación (Colombia) Num.3 Vol.37 |
| title | Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps |
| topic | Ingeniería SLAM beam pattern spatial voting sonar resolution Ultrasonic arc map |
| url | https://www.redalyc.org/articulo.oa?id=64354059005 |