Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Fabio T. Moreno-Ortiz; Eduardo Castillo-Castañeda; Antonio Hernández-Zavala

doi:10.15446/ing.investig.v37n3.59508

Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Título traducido de la contribución: Detección y localización de superficies en un ambiente 3d a través de un solo sensor y casquetes esféricos ultrasónicos

Fabio T. Moreno-Ortiz, Eduardo Castillo-Castañeda, Antonio Hernández-Zavala

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

2 Citas (Scopus)

Resumen

In this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digitize the uncertainty caps and place them in a three-dimensional map. Through the spatial voting method, the generated voxels are elected in order to distinguish those which mark the true position of an obstacle and discard those that are produced by cross talk, noise, fake ranges, and angular resolution. The results show that it is possible to obtain sufficient information to build a three-dimensional map for navigation by employing inexpensive sensors and a low power data processing.

Título traducido de la contribución	Detección y localización de superficies en un ambiente 3d a través de un solo sensor y casquetes esféricos ultrasónicos
Idioma original	Inglés
Páginas (desde-hasta)	37-44
Número de páginas	8
Publicación	Ingenieria e Investigacion
Volumen	37
N.º	3
DOI	https://doi.org/10.15446/ing.investig.v37n3.59508
Estado	Publicada - dic. 2017
Publicado de forma externa	Sí

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abstract = "In this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digitize the uncertainty caps and place them in a three-dimensional map. Through the spatial voting method, the generated voxels are elected in order to distinguish those which mark the true position of an obstacle and discard those that are produced by cross talk, noise, fake ranges, and angular resolution. The results show that it is possible to obtain sufficient information to build a three-dimensional map for navigation by employing inexpensive sensors and a low power data processing.",

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Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

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