Object recognition by triaural perception on a mobile robot

Herbert Peremans; Jan M. Van Campenhout

doi:10.1117/12.143810

4 May 1993 Object recognition by triaural perception on a mobile robot

Herbert Peremans, Jan M. Van Campenhout

Proceedings Volume 1831, Mobile Robots VII; (1993) https://doi.org/10.1117/12.143810
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

To overcome some of the problems associated with the use of ultrasonic sensors for navigation purposes, we propose a measurement system composed of three ultrasonic sensors, one transmitting and three receiving, placed on a moving vehicle. By triangulation this tri-aural sensor is able to determine the position, both distance and bearing, of the objects in the field of view. In this paper, we derive a statistical test which combines consecutive sightings by the moving sensor, of the same object to determine whether it is an edge, a plane or a corner. This test is formulated as a sequential test which guarantees that the object will be recognized after the minimal number of measurements given predetermined error probabilities. We include experimental data showing the object recognition capabilities of the system.

Citation Download Citation

Herbert Peremans and Jan M. Van Campenhout "Object recognition by triaural perception on a mobile robot", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); https://doi.org/10.1117/12.143810

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