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      • Faculty of Engineering
      • Department of Electrical and Electronics Engineering
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      Directional processing of ultrasonic arc maps and its comparison with existing techniques

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      Author(s)
      Barshan, Billur
      Altun, Kerem
      Date
      2007
      Source Title
      Proceedings of the 15th Signal Processing and Communications Applications, IEEE 2007
      Print ISSN
      2165-0608
      Publisher
      IEEE
      Language
      Turkish
      Type
      Conference Paper
      Item Usage Stats
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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 uncertainty
      Cross 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/11693/26946
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/SIU.2007.4298641
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      • Department of Electrical and Electronics Engineering 3863
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