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Modeling and classification of rough surfaces using CTFM sonar imaging

Abstract:

The typical use of ultrasonic sensors has been limited to estimation of the location of targets in a robot workspace. CTFM sonars have also been used successfully in classifying primitive targets. In this paper the classification is extended to include textures typical of these found in pathways the robot may need to follow or identify. The pathway classes examined are considered to be plane surfaces of various roughness corresponding to hard smooth floor, carpet, and asphalt. Each class is m...

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Publication status:
Published

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Role:
Author, Author
Publisher:
IEEE
Volume:
4
Pages:
2988-2993
Host title:
ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS
Publication date:
1999-01-01
ISSN:
1050-4729
Source identifiers:
65677
ISBN:
0780351819
Keywords:
Pubs id:
pubs:65677
UUID:
uuid:8f4fe729-43f8-4383-867d-8fbe770911d5
Local pid:
pubs:65677
Deposit date:
2012-12-19

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