Mapping with a binaural system

A binaural sonar configuration with the capability to detect and identify planes, edges and corners is presented in this work. A new ultra-fast firing method with acquisition rates four to six times greater than the conventional ones, shows high interference rejection capabilities, preserving a very low level of errors. Experimental results have shown successful rejection of undesired crosstalk and good acceptance of true measurements. With just two firing cycles, this system provides fast and more confident information, leading to a higher obstacle detection probability. Together with a new feature detection and identification algorithms, on-line feature maps are built making use of the Bayesian updating and classification rules. Experimental results of ultrasonic reflectors recognition, using data collected in a specular indoor environment are presented in the paper.