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Carnegie Mellon Robotics Institute

We have been proposed a fast and accurate sonar-ring sensor for a mobile robot. In this system, multiple time-of-flights of the echoes from the multiple reflecting objects are detected at each receiver in a single measurement. However, the echo from an object sometimes can not be detected, since it is hidden by the former echo. This is considered as an occlusion problem. When the time-of-flights measurement failed because of duration of the echo, target correspondence for accurate bearing angle measurement become more difficult. This paper discuss on this occlusion problem in a pulse-echo ultrasonic sensor with multiple echoes measurement.

Notes

Note: (in Japanese)

Text Reference

Teruko Yata, A.Ohya, and S.Yuta, "Occlusion in Ultrasonic Sensing - undetectable area of multiple objects detecting pulse-echo ultrasonic sensor," Proceedings of the 17th RSJ conference, September, 1999, pp. 41 - 42.

BibTeX Reference

@inproceedings{Yata_1999_4022,
   author = "Teruko Yata and A.Ohya and S.Yuta",
   title = "Occlusion in Ultrasonic Sensing - undetectable area of multiple objects detecting pulse-echo ultrasonic sensor",
   booktitle = "Proceedings of the 17th RSJ conference",
   pages = "41 - 42",
   month = "September",
   year = "1999",
   Notes = "(in Japanese)"
}

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