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Información general |
| Autor |
Spedicato, Luigi; Giannoccaro, Nicola Ivan; Reina, Giulio; Bellone, Mauro |
| Publicado |
InTech Open Access Publisher, 2013
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| Edición |
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| Abstract |
In this paper, the authors make use of sonar
transducers to detect the corner of two orthogonal panels
and they propose a strategy for accurately reconstructing
the surfaces. In order to point a linear array of four
sensors at the desired position, the motion of a digital
motor is appropriately controlled. When the sensors are
directed towards the intersection between the planes,
longer times of flight are observed because of multiple
reflections. All the concerned distances have to be
excluded and that is why an indicator based on the
output signal energy is introduced. A clustering
technique allows for the partitioning of the dataset in
three clusters and the indicator selects the subset
containing misrepresented information. The remaining
distances are corrected so as to take into consideration the
directivity and they permit the plotting of two sets of
points in a three‐dimensional space. In order to leave out
the outliers, each set is filtered by means of a confidence
ellipsoid which is defined by the Principal Component
Analysis (PCA). The best‐fit planes are obtained based on
the principal directions and the variances. Experimental
tests and results are shown demonstrating the
effectiveness of this new approach. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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