Browsing by Subject "Angular uncertainty"

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    ItemOpen Access
    A comparative study on the processing of ultrasonic arc maps
    (IEEE, 2008-08) Barshan, Billur
    The directional maximum (DM) technique for processing ultrasonic arc maps is proposed and compared to previously existing techniques. The method processes ultrasonic arc maps directionally to extract the map of the environment and overcome the intrinsic angular uncertainty of ultrasonic sensors. It also eliminates noise and cross-talk related misreadings successfully. The comparison is based on experimental data and three complementary error criteria. The DM technique offers a very good compromise between mean absolute error and correct detection rate, with a processing time less than tenth of a second. It is superior to existing techniques in range accuracy and in eliminating artifacts, resulting in the best overall performance. The results indicate several trade-offs in the choice of ultrasonic arc-map processing techniques.
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    ItemOpen Access
    Directional processing of ultrasonic arc maps and its comparison with existing techniques
    (IEEE, 2007) Barshan, Billur; Altun, Kerem
    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.