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Title
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Broadband 3-D sonar system using a sparse array for indoor navigation
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Author
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Abstract
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| 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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Language
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English
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Source (journal)
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IEEE transactions on robotics. - New York, N.Y., 2004, currens
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Publication
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New York, N.Y.
:
Institute of Electrical and Electronics Engineers
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2013
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ISSN
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1552-3098
[print]
1941-0468
[online]
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DOI
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10.1109/TRO.2012.2221313
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Volume/pages
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29
:1
(2013)
, p. 161-171
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ISI
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000314837100013
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Full text (Publisher's DOI)
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