|Ultrasonic sensors are widely used for external sensors of mobile robots. However, information gotten by ultrasonic sensors were limited in two-dimensions, even though the environment is three-dimensions. In this paper, we propose to apply an accurate reflecting point measurement method into three-dimensional measurement, especially focusing on step detection. The proposed method uses a single transmitter and two receivers, and it achieves accurate reflecting point measurement in vertical direction using difference of measured time-of-flight by two receivers. Consequently, it becomes possible to estimate existence of step, distance to the step and also hight of the step by using the reflecting point.|
|Pulse-echo ultrasonic sensor, Reflecting point, Three-dimensional information, Accurate bearing measurement|
Note: This paper is partially written in Japanese.
|Teruko Yata and Chuck Thorpe, "Step Detection by Sonar," Proceedings of the 18th Annual Conference of the Robotics Society of Japan, September, 2000, pp. 1325-1326.|
author = "Teruko Yata and Chuck Thorpe",
title = "Step Detection by Sonar",
booktitle = "Proceedings of the 18th Annual Conference of the Robotics Society of Japan",
pages = "1325-1326",
month = "September",
year = "2000",
Notes = "This paper is partially written in Japanese."
|The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.|
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