Using the Amplitude of Ultrasonic Echoes to Classify Detected Objects in a Scene
نویسندگان
چکیده
This paper presents a study about the amplitude of ultrasonic echoes and a simple model is proposed to predict the shape and amplitude of echoes received from different materials in environments composed of walls and corners. Using this model is possible to distinguish between walls and corners, in a single circular scan of a single ultrasonic transducer pair. The parameters of the model have been derived after exhaustive tests performed on different materials and surfaces. Finally, the experimental results of wall-corner classifications obtained in real tests during the walk of a mobile robot are presented. The results suggest that the proposed method can be of great interest for map building in robotics.
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