Modeling and Target Classification Using Multiple Reflections of Sonar

  • Lee, Wang-Heon (Department of Electrical Engineering & Computer Science Korea Advanced Institute of Science and Technology) ;
  • Yoon, Kuk-Jin (Department of Electrical Engineering & Computer Science Korea Advanced Institute of Science and Technology) ;
  • Kweon, In-So (Department of Electrical Engineering & Computer Science Korea Advanced Institute of Science and Technology)
  • 발행 : 2003.11.21

초록

This paper describes a sonic polygonal multiple reflection range sensor (SPMRS), which uses multiple reflection properties usually ignored in ultrasonic sensors as disturbances or noises. Targets such as a plane, corner, edge, or cylinder in indoor environments can easily be detected by the multiple reflection patterns obtained with a SPMRS system. Target classification and feature data extraction, such as distance and azimuth to the target, are computed simultaneously by considering the geometrical relationships between the detected targets, and finally the environment model is generated by refining the detected targets. In addition, the narrow field of view of a sonar range sensor is increased and the scanning time is reduced by active motion of the SPMRS stepping servomechanism.

키워드