Publication
Title
Broadband 3-D sonar system using a sparse array for indoor navigation
Author
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.
Language
English
Source (journal)
IEEE transactions on robotics. - New York, N.Y., 2004, currens
Publication
New York, N.Y. : Institute of Electrical and Electronics Engineers , 2013
ISSN
1552-3098 [print]
1941-0468 [online]
Volume/pages
29 :1 (2013) , p. 161-171
ISI
000314837100013
Full text (Publisher's DOI)
UAntwerpen
Faculty/Department
Research group
Publication type
Subject
Affiliation
Publications with a UAntwerp address
External links
Web of Science
Record
Identifier
Creation 27.10.2012
Last edited 06.10.2022
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