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Echolocation — From range to outline segments |
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| Authors: | Philip John McKerrow |
| Affiliation: | University of Wollongong, Dept. of Computer Science, Northfields Avenue, Wollongong, NSW, 2522, Australia |
| Abstract: | A ring of ultrasonic sensors mounted on a mobile robot is used to map a room. The sensors are modelled with an arc model: the object causing the reflection lies on an arc with radius equal to the range and arc angle equal to twice the beam angle. By fusing sensing with motion, a surface is displayed as a sequence of arcs. In this paper, the algorithm for obtaining outline segments from the arcs is presented. |
| Keywords: | Ultrasonic sensors Mobile robot Mapping Echolocation |
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