A fast and accurate sonar-ring sensor for a mobile robot

Yata, Teruko; Ohya, Akihisa; Yuta, Shin’ichi

doi:10.1109/robot.1999.770046

Cited by 34 publications

(14 citation statements)

References 9 publications

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“…Yata et al [4,5,13] use a panoramic catadioptric camera to complement sonar data by assuming a polyhedral world of only vertical rectangles. Their work uses panoramic vision by considering an annular region corresponding to the horizon elevation, and treating it as a 1D signal as a function of azimuth angle and searching for step edges.…”

Section: Prior Research: Panoramic Vision and Its Application To Mobimentioning

confidence: 99%

“…Examples of positioning systems use sonar sensors, motor odometry and radio beacons [3]. Most robotics research with mobile platforms has focused on sonar systems, and there is a wealth of related research, hobby and commercial robot platforms and literature using sonar [4][5][6][7]. However, vision systems o er much greater promise and emphasis has been shifting to vision-guided navigation.…”

Section: Introductionmentioning

confidence: 99%

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Robot navigation using panoramic tracking

Fiala

Basu

2004

Pattern Recognition

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Section: Prior Research: Panoramic Vision and Its Application To Mobimentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robot navigation using panoramic tracking

Fiala

Basu

2004

Pattern Recognition

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“…Ultra sonic sensors that have been used for robot perception for several years estimate the range of a reflecting object by measuring the time of flight of an emitted ultrasonic pulse [7]. The proposed method differs from the ultrasonic approach as we do not emit any sound but rely on passive sensing.…”

Section: Related Workmentioning

confidence: 99%

Using sound reflections to detect moving entities out of the field of view

Kallakuri

Even

Morales

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a method for detecting moving entities that are in the robot's path but not in the field of view of sensors like laser scanners, cameras or ultrasonic sensors. The proposed system makes use of passive acoustic localization methods which receive information from occluded regions (at intersections or corners) because of the multipath nature of sound propagation. Contrary to the conventional sensors, this method does not require line of sight. In particular, specular reflections in the environment make it possible to detect moving entities that emit sound such as a walking person or a rolling cart. This idea was exploited for safe navigation of a mobile platform at intersections. The passive acoustic localization output is combined with a 3D geometric map of the environment that is precise enough to estimate sound propagation and reflection using ray casting methods. This gives the robot the ability to detect a moving entity out of the field of view of the sensors that require line of sight. Then the robot is able to recalculate its path and waits until the detected entity is out of its path so that it is safe to move to its destination. To illustrate the performance of the proposed method, a comparison of the robot's navigation with and without the audio sensing is provided for several intersection scenarios.

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“…In addition to vision, however, most mobile robot platforms are equipped with extra motion sensors in addition to vision, such as sonar [11,14], laser range finders, compasses, etc. Sensor fusion algorithms generally focus on object pose estimation [1,2], rather than control.…”

Section: Introductionmentioning

confidence: 99%

Extended Visual Servoing

Zhang¹,

Cowan²

2003

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. AbstractWe present initial progress on so-called extended visual servoing, an integrated approach of controlling mobile robots equipped with multiple sensors. Our approach to sensor fusion uses the mathematical framework of visual servoing for a higher dimensional feature space that incorporates other sensors in addition to vision (which still plays a central role). Analysis and simulation on a planar mobile robot with "vision + sonar" shows the initial success of the approach.

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A fast and accurate sonar-ring sensor for a mobile robot

Cited by 34 publications

References 9 publications

Robot navigation using panoramic tracking

Robot navigation using panoramic tracking

Using sound reflections to detect moving entities out of the field of view

Extended Visual Servoing

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