Title
Broadband 3-D sonar system using a sparse array for indoor navigationBroadband 3-D sonar system using a sparse array for indoor navigation
Author
Faculty/Department
Faculty of Applied Economics
Research group
Engineering Management
Publication type
article
Publication
New York, N.Y.,
Subject
Economics
Physics
Engineering sciences. Technology
Source (journal)
IEEE transactions on robotics. - New York, N.Y.
Volume/pages
29(2013):1, p. 161-171
ISSN
1552-3098
ISI
000314837100013
Carrier
E
Target language
English (eng)
Full text (Publishers DOI)
Affiliation
University of Antwerp
Abstract
Array beamforming techniques allow for the generation of 3-D spatial filters which can be used to localize objects in a large field of view (FOV) without the need for mechanical scanning. By combining broadband beamforming with a sparse, random array of receivers, we have constructed a low-cost, yet powerful, in-air sonar system, which is suited for a wide range of robotic applications. Experimental results in unmodified office environments show the performance of the sonar sensor. In particular, we document the sensor's capacity to produce 3-D location measurements in the presence of multiple highly overlapping echoes. We show how this capability makes possible the combination of a wide FOV with accurate 3-D localization, allowing the sensor to operate under real-time constraints in realistic environments. To demonstrate the use of this sensor, we describe an odometry application that estimates egomotion of a mobile robot using acoustic flow.
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