Published

2017-09-01

Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Detección y localización de superficies en un ambiente 3D a través de un solo sensor y casquetes esféricos ultrasónicos

Keywords:

Ultrasonic arc map, sonar resolution, SLAM, Bresenham algorithm, voxelized spherical cap, beam pattern, spatial voting (en)
Mapa de arco ultrasónico, resolución del sonar, SLAM, algoritmo de Bresenham, casquete esférico voxelizado, patrón de dispersión, votación espacial (es)

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Authors

  • Fabio Tomás Moreno-Ortiz Universidad Tecnológica de Querétaro https://orcid.org/0000-0002-3970-1870
  • Eduardo Castillo-Castañeda Instituto Politécnico Nacional
  • Antonio Hernández-Zavala Instituto Politécnico Nacional.

In this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digitize the uncertainty caps and place them in a three-dimensional map. Through the spatial voting method, the generated voxels are elected in order to distinguish those which mark the true position of an obstacle and discard those that are produced by cross talk, noise, fake ranges, and angular resolution. The results show that it is possible to obtain sufficient information to build a three-dimensional map for navigation by employing inexpensive sensors and a low power data processing.

En este artículo, un método de mapa de arcos ultrasónicos para mapeo plano es extendido al espacio tridimensional, remplazando los arcos de circunferencia por casquetes esféricos. Un ambiente cerrado es explorado empleando solo un dispositivo ultrasónico. La distancia, posición y orientación del transductor son utilizadas para digitalizar casquetes de incertidumbre y colocarlos en un mapa tridimensional. A través del método de votación espacial, los voxeles generados son elegidos con el propósito de distinguir aquellos que marcan la posición real de un obstáculo y descartar aquellos producidos por diafonía, ruido, lecturas falsas y la resolución angular. Los resultados muestran que es posible obtener suficiente información para construir un mapa tridimensional para navegación mediante el empleo de sensores de bajo costo y un procesamiento de datos de baja potencia.

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Copyright (c) 2017 Fabio Tomás Moreno-Ortiz, Eduardo Castillo-Castañeda, Antonio Hernández-Zavala

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