3D Reconstruction of L-shaped surfaces using a rotating array of ultrasonic sensors

Giannoccaro, Nicola Ivan; Spedicato, Luigi; Castri, Carmelo di

doi:10.1109/ssd.2011.5767483

Cited by 13 publications

(35 citation statements)

References 16 publications

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“…For each angular position θ, a total energy level has been defined by (4) and plotted in Figure 12. Three distinct peaks may be localized in the plot of Figure 12; two of them are referred to the positions where the direction of reflection corresponds to the pointing direction (θ=0° and θ=90°).…”

Section: Reconstruction Of Panels Forming a Right Anglementioning

confidence: 99%

“…Moreover, they carefully examined the physical phenomenon of multiple reflections in the zone close to the intersection, introducing new reconstruction strategies based on powerful mathematical tools, such as Fuzzy C-Means (FCM) algorithm [4][5][6][7][8][9][10][11], RANdom SAmple Consensus (RANSAC) fitting [4][5][6]9], Principal Component Analysis (PCA) [7][8]9,11] and a function inspired by the Gibbs entropy [10].…”

Section: Introductionmentioning

confidence: 99%

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New Methods for Robotic Perception by Using in-Air Sonar Data

Giannoccaro

Spedicato

2016

International Journal of Advanced Robotic Systems

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In recent years, the authors studied the possibility of using low frequency in-air ultrasonic sensors in several applications of robotic interest related to the perception and the reconstruction of the external environment.They introduced several methods based on innovative mathematical tools for solving problems, such as the position detection and orientation of a mobile robot with respect to a corridor wall, the correct reconstruction of two orthogonal panels in spite of the effect of multiple reflections affecting the data in the corner zone, and the reconstruction of the boundary walls of a room environment.All the proposed innovative strategies were tested on a designed mechatronic scanning system consisting of ultrasonic sensors rotated by a servo modular actuator and also with the data from a scanning validated model.In this review, the main steps and achievements will be presented so as to summarize the research work of recent years as well as reflect on the importance of appropriate and innovative techniques regarding ultrasonic data processing. The originality of the present work concerns the possibility of disposing all the developed approaches as a whole in order to use in-air ultrasonic sensors for robotic perception in several environmental situations.

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Section: Reconstruction Of Panels Forming a Right Anglementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

New Methods for Robotic Perception by Using in-Air Sonar Data

Giannoccaro

Spedicato

2016

International Journal of Advanced Robotic Systems

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“…The points of Figure 4 may be arranged to obtain a matrix X of dimensions 2×N, where N is the number of pointing directions. The vector Y, that indicates the deviation of X components from the mean values, is calculated by (8), where the mean vector w is defined in (9) and h is the all ones N dimensional row vector.…”

Section: Pca-based Approach Using the Covariancementioning

confidence: 99%

“…In particular, a recent study [8] introduces a new analysis method, which converts geometrical shapes into quantitative values using Principal Component Analysis (PCA) with a view to exploring corridor environments. The authors have lately investigated the capability of ultrasonic sensors in reconstructing three-dimensional obstacles such as two orthogonal planes [9][10], where the measurements feel the effect of second-order reflections. Furthermore, they have used the PCA-based approach in order to detect a wall and they have introduced a geometric way to attribute confidence to the result [11].…”

Section: Introductionmentioning

confidence: 99%

Three Different Approaches for Localization in a Corridor Environment by Means of an Ultrasonic Wide Beam

Spedicato

Giannoccaro

Reina

et al. 2013

International Journal of Advanced Robotic Systems

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In this paper the authors present three methods to detect the position and orientation of an observer, such as a mobile robot, with respect to a corridor wall. They use an inexpensive sensor to spread a wide ultrasonic beam. The sensor is rotated by means of an accurate servomotor in order to propagate ultrasonic waves towards a regular wall. Whatever the wall material may be the scanning surface appears to be an acoustic reflector as a consequence of low air impedance. The realized device is able to give distance information in each motor position and thus permits the derivation of a set of points as a ray trace-scanner. The dataset contains points lying on a circular arc and relating to strong returns. Three different approaches are herein considered to estimate both the slope of the wall and its minimum distance from the sensor. Slope and perpendicular distance are the parameters of a target plane, which may be calculated in each observer's position to predict its new location. Experimental tests and simulations are shown and discussed by scanning from different stationary locations. They allow the appreciation of the effectiveness of the proposed approaches.

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“…The authors have recently taken care of full waveform signals and they have noticed that it is possible to recognize the angular position corresponding with the intersection of planes (critical position) because the full waveform energy increases around it [16]. Preliminary results of the proposed approach have been 1530-437X/$26.00 © 2011 IEEE remarkable improved by further technical aspects which have allowed scanning in a wide range and considering many more angular steps.…”

Section: Introductionmentioning

confidence: 99%

A New Strategy for Spatial Reconstruction of Orthogonal Planes Using a Rotating Array of Ultrasonic Sensors

2012

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In this paper, the authors present a new strategy for accurately reconstructing an L-shaped obstacle such as some wooden panels opportunely connected so as to form a right angle. The mechatronics scanning system consists of four inexpensive ultrasonic sensors moved in three-dimensional (3-D) space by means of a digital motor. The motor rotation is controlled in order to point the sensor array at the target and to obtain distance measurements for each shaft position. Ultrasonic distance sensors propagate large beams and feel the significant effect of multiple reflections. For the sake of excluding all misrepresented distance values at the intersection of the planes, the proposed approach uses powerful mathematical tools together with a physical indicator based on the reflected signal energy. The Fuzzy C-Means (FCM) classification allows partitioning a data set, and the introduced physical indicator is able to select the specific cluster corresponding to the spurious distances. Each remaining cluster permits to calculate the equation of a plane because it is referred to the distance values deriving from a direct reflection. These distances are then transformed considering the sensors directivity and the direction of reflection so as to obtain two sets of 3-D points. Finally, the reconstruction of each plane is achieved by the RANdom SAmple Consensus (RANSAC) in such a way as to better fit these points. The details of this strategy and the experimental tests are shown, demonstrating the applicability and the good results.

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3D Reconstruction of L-shaped surfaces using a rotating array of ultrasonic sensors

Cited by 13 publications

References 16 publications

New Methods for Robotic Perception by Using in-Air Sonar Data

New Methods for Robotic Perception by Using in-Air Sonar Data

Three Different Approaches for Localization in a Corridor Environment by Means of an Ultrasonic Wide Beam

A New Strategy for Spatial Reconstruction of Orthogonal Planes Using a Rotating Array of Ultrasonic Sensors

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