Skip to main content
SpringerLink
Log in

A Fast Firing Binaural System for Ultrasonic Pattern Recognition

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

A binaural sonar configuration with capability to detect and identify walls, edges and corners on real-time is presented in this work. A new multi-echo ultra-fast firing method increases the sonar acquisition rate, and provides crossed measurements without interference. A feature map is built on-line using Bayesian updating and classification rules. Three classifiers are implemented and analyzed: minimum risk (MR), maximum a posteriori (MAP), and minimum distance (MD). Experimental results of ultrasonic reflector recognition, using data collected in a specular indoor environment are presented in the paper.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Araujo, E.G., Grupen, R.A.: Feature extraction for autonomous navigation using an active sonar head. In: IEEE International Conference on Robotics and Automation (ICRA’2000), pp. 3823–3828 (2000)

  2. Barshan, B., Kuc, R.: Differentiating sonar reflections from corners and planes by employing an intelligent sensor. IEEE Trans. Pattern Anal. Mach. Intell. 12(6), 560–569 (1990)

    Article  Google Scholar 

  3. Borenstein, J.: The vector field histogram – fast obstacle avoidance for mobile robots. IEEE Trans. Robot. Autom. 7(3), 278–288 (1991)

    Article  Google Scholar 

  4. Borenstein, J., Koren, Y.: Error eliminating rapid ultrasonic firing for mobile robot obstacle avoidance. IEEE Trans. Robot. Autom. 11, 132–138 (1995)

    Article  Google Scholar 

  5. Duda, R.O., Hart, P.E.: Pattern Classification and Scene Analysis. Wiley-Interscience, Statford Research Institute, Menlo Park, California (1973)

    MATH  Google Scholar 

  6. Elfes, A.: Occupancy grids: a stochastic spatial representation for active robot perception. In: 6th Conference on Uncertainty in AI (1990)

  7. Harris, K.D., Recce, M.: Experimental modelling of time-of-flight sonar. Robot. Auton. Syst. 24, 33–42 (1998)

    Article  Google Scholar 

  8. van der Heijden, F., Duin, R., de Ridder, D., Tax, D.: Classification, Parameter Estimation and State Estimation – an Engineering Approach Using Matlab. John Wiley & Sons, England (2004)

    MATH  Google Scholar 

  9. Hernández, Á., Ureña, J., García, J.J., Mazo, M., Hernanz, D., Dérutin, J.P., Sérot, J.: Ultrasonic ranging sensor using simultaneous emissions from different transducers. IEEE Trans. Ultrason. Ferroelectr. Freq. Control 51(12), 1660–1670 (2004)

    Article  Google Scholar 

  10. Kleeman, L., Kuc, R.: Mobile robot sonar for target localization and classification. Int. J. Rob. Res. 14, 295–318 (1995)

    Article  Google Scholar 

  11. Kohlmorgen, J., Blankertz, B.: Bayesian classification of single-trial event-related potentials in EEG. Int. J. Bif. Chaos 14(2), 719–726 (2004)

    Article  MATH  Google Scholar 

  12. Kuc, R., Siegel, M.: Physically based simulation model for acoustic sensor robot navigation. IEEE Trans. Pattern Anal. Mach. Intell. 9, 766–778 (1987)

    Article  Google Scholar 

  13. Moita, F., Nunes, U.: Ultrasonic reflectors recognition with a fast firing system. In: SICICA 2003 5th IFAC International Symposium on Intelligent Components and Instruments for Control Applications. Aveiro, Portugal (2003)

  14. Moita, F., Feijão, A., Nunes, U., de Almeida, A.T.: Modelling and calibration of an ultrasonic ranging system of a mobile robot. In: Controlo 94. Lisbon (1994)

  15. Pires, G., Nunes, U.: A wheelchair steered through voice commands and assisted by a reactive fuzzy-logic controller. J. Intell. Robot. Syst. 34, 301–314 (2002)

    Article  MATH  Google Scholar 

  16. Pires, G., Martins, N., Almeida, R., Moita, F., Nunes, U., de Almeida, A.T.: Optimization of the tri-aural system, detection and identification of different reflectors. In: Mechatronics 96 with M2VIP 96 Conference. Guimarães, Portugal (1996)

  17. Randall, R.C., Michel, H.E.: Theoretical design issues of a multi-sensor doppler-tolerant ultrasonic system using pseudorandom codes. In: The 2006 World Congress in Computer Science, Computer Engineering, and Applied Computing (ICAI’06), pp. 628–634. Las Vegas, Nevada, USA (2006)

  18. Sabatini, A.M.: Active hearing for external imaging based on an ultrasonic transducer array. In: IEEE/RSJ International Conference on Intelligent Robotic Systems (IROS’92), pp. 829–836 (1992)

  19. Simmons, J.A., Ferragamo, M.J., Moss, C.F.: Echo-delay resolution in sonar images of the big brown bat, Eptesicus fuscus. In: National Academy of Science, vol. 95, pp. 12,647–12,652 (1998)

  20. Wijk, O., Christensen, H.: Triangulation-based fusion of sonar data with applications in robot pose tracking. IEEE Trans. Robot. Autom. 16, 740–752 (2000)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. ISR, Institute of Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, 3030-290, Coimbra, Portugal

    Fernando Moita, Ana C. Lopes & Urbano Nunes

Authors
  1. Fernando Moita
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ana C. Lopes
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Urbano Nunes
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ana C. Lopes.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Moita, F., Lopes, A.C. & Nunes, U. A Fast Firing Binaural System for Ultrasonic Pattern Recognition. J Intell Robot Syst 50, 141–162 (2007). https://doi.org/10.1007/s10846-007-9158-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-007-9158-5

Keywords

Search

Navigation