Differentiation and localization of target primitives using infrared sensors

Date
2002-09-10
Advisor
Instructor
Source Title
IEEE International Conference on Intelligent Robots and Systems
Print ISSN
Electronic ISSN
Publisher
IEEE
Volume
Issue
Pages
105 - 110
Language
English
Type
Conference Paper
Journal Title
Journal ISSN
Volume Title
Abstract

This study investigates the use of low-cost infrared sensors in the differentiation and localization of commonly encountered target primitives in indoor environments, such as planes, corners, edges, and cylinders. The intensity readings from such sensors are highly dependent on target location and properties in a way which cannot be represented in a simple manner, making the differentiation and localization process difficult. In this paper, we propose the use of angular intensity scans and present an algorithm to process them. This approach can determine the target type independent of its position. Once the target type is identified, its position can also be estimated. The method is verified experimentally. An average correct classification rate of 97% over all target types is achieved and targets are localized within absolute range and azimuth errors of 0.8 cm and 1.6°, respectively. The proposed method should facilitate the use of infrared sensors in mobile robot applications for differentiation and localization beyond their common usage as simple proximity sensors for object detection and collision avoidance.

Course
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Book Title
Keywords
Algorithms, Computational complexity, Errors, Estimation, Infrared devices, Mobile robots, Position measurement, Robot applications, Azimuth errors, Infrared sensors, Proximity sensors
Citation
Published Version (Please cite this version)