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Feature extraction from a broadband sonar sensor for mapping structured environments efficiently

Abstract:

In this paper, we describe the use of a broadband, frequency-modulated sonar sensor (a CTFM sonar) for generating maps of structured environments for robots and autonomous systems. The major advantage of using these sensors is that the information generated is reliable enough to extract the geometry and type of certain features with very few measurements; hence, maps can be generated rapidly. Although the technology of low-cost CTFM sonar has been available for some time, it has only very rec...

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Publication status:
Published

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Publisher copy:
10.1177/02783640022067850

Authors


Publisher:
Sage Sci Press
Journal:
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume:
19
Issue:
10
Pages:
895-913
Publication date:
2000-10-01
DOI:
ISSN:
0278-3649
Source identifiers:
142577
Language:
English
Keywords:
Pubs id:
pubs:142577
UUID:
uuid:ceed94f9-6091-49a7-a444-552f8ba8b84e
Local pid:
pubs:142577
Deposit date:
2013-11-16

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