Title
Spatial sampling strategy for a 3D Sonar Sensor supporting BatSLAM Spatial sampling strategy for a 3D Sonar Sensor supporting BatSLAM
Author
Faculty/Department
Faculty of Applied Economics
Faculty of Applied Engineering Sciences
Publication type
conferenceObject
Publication
New york :Ieee ,
Subject
Engineering sciences. Technology
Computer. Automation
Source (journal)
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Source (book)
IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS), SEP 28-OCT 02, 2015, Hamburg, GERMANY
Volume/pages
(2015) , p. 723-728
ISSN
2153-0858
ISBN
978-1-4799-9994-1
ISI
000371885400106
Carrier
E
Target language
English (eng)
Affiliation
University of Antwerp
Abstract
In this paper, we present a solution to the Simultaneous Localization and Mapping problem by combining a novel 3D in-air sonar sensor with techniques for estimating the ego-motion of a mobile platform (called acoustic flow odometry) and a bio-inspired mapping module (called BatSLAM). This combination eliminates the need for odometric information originating from the robot's motor controller, enabling applications where that information is difficult to obtain, e. g. many electric wheelchairs. The proposed method exploits the programmable spatial sampling capabilities of the 3D sonar system to derive from the same set of received echo signals both an accurate representation of reflectors in the horizontal plane (2D energyscape) and a more coarse representation of reflectors in the frontal hemisphere (3D energyyscape). Using a mapping experiment we demonstrate that the motion estimates originating from the acoustic flow module combined with the coarse frontal hemisphere data provide sufficient information for the mapping module to reconstruct the robot's trajectory.
http://dx.doi.org/doi:10.1109/IROS.2015.7353452
E-info
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000371885400106&DestLinkType=RelatedRecords&DestApp=ALL_WOS&UsrCustomerID=ef845e08c439e550330acc77c7d2d848
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000371885400106&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=ef845e08c439e550330acc77c7d2d848
https://repository.uantwerpen.be/docman/iruaauth/ed498e/133180.pdf
Handle