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Proceedings Paper

Object recognition by triaural perception on a mobile robot
Author(s): Herbert Peremans; Jan M. Van Campenhout
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Paper Abstract

To overcome some of the problems associated with the use of ultrasonic sensors for navigation purposes, we propose a measurement system composed of three ultrasonic sensors, one transmitting and three receiving, placed on a moving vehicle. By triangulation this tri-aural sensor is able to determine the position, both distance and bearing, of the objects in the field of view. In this paper, we derive a statistical test which combines consecutive sightings by the moving sensor, of the same object to determine whether it is an edge, a plane or a corner. This test is formulated as a sequential test which guarantees that the object will be recognized after the minimal number of measurements given predetermined error probabilities. We include experimental data showing the object recognition capabilities of the system.

Paper Details

Date Published: 4 May 1993
PDF: 11 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143810
Show Author Affiliations
Herbert Peremans, Univ. of Ghent (Belgium)
Jan M. Van Campenhout, Univ. of Ghent (Belgium)

Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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