Directional processing of ultrasonic arc maps and its comparison with existing techniques
Date
2007Source Title
Proceedings of the 15th Signal Processing and Communications Applications, IEEE 2007
Print ISSN
2165-0608
Publisher
IEEE
Language
Turkish
Type
Conference PaperItem Usage Stats
273
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131
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Abstract
Directional maximum (DM) technique for processing ultrasonic arc maps (UAMs) is proposed and compared to existing techniques. It employs directional processing in extracting the map of the environment from UAMs. DM aims at overcoming the intrinsic angular uncertainty of ultrasonic sensors in map building, as well as eliminating noise and cross-talk related misreadings. The comparison is based on experiments with a mobile robot which ac-quired ultrasonic range measurements through wall following. Three complementary performance criteria are used. The DM technique offers a very good compromise between mean absolute error and correct detection rate, with a processing time less than one tenth of a second. It is also superior in range accuracy and in eliminating artifacts, resulting in the best overall performance. The results indicate several trade-offs in the choice of UAM processing techniques.
Keywords
Angular uncertaintyCross talks
Detection rates
Eliminating noise
Map-building
Mean absolute error
Overall performance
Performance criterion
Processing techniques
Processing time
Range accuracy
Through-wall
Ultrasonic arc maps
Ultrasonic ranging
Cavity resonators
Error detection
Maps
Optical projectors
Signal processing
Ultrasonic applications
Ultrasonic testing
Ultrasonics
Conformal mapping
Permalink
http://hdl.handle.net/11693/26946Published Version (Please cite this version)
http://dx.doi.org/10.1109/SIU.2007.4298641Collections
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