{"title":"一种用于机器人应用的稀疏宽带3D阵列声纳系统","authors":"J. Steckel, A. Boen, H. Peremans","doi":"10.1109/IROS.2012.6385584","DOIUrl":null,"url":null,"abstract":"We describe how, by combining broadband beamforming with a sparse, random array of receivers, we have constructed a low-cost, yet powerful, in-air sonar system which is suited for a wide range of robotic applications. In particular, we show how simple array beamforming techniques allow for the generation of 3D spatial filters that can be used to accurately localize objects in a large field of view without the need for mechanical scanning. Experimental validation of the sensor's capacity to produce 3D location measurements in the presence of multiple highly overlapping echoes is presented.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"103 1","pages":"3223-3228"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"A sonar system using a sparse broadband 3D array for robotic applications\",\"authors\":\"J. Steckel, A. Boen, H. Peremans\",\"doi\":\"10.1109/IROS.2012.6385584\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We describe how, by combining broadband beamforming with a sparse, random array of receivers, we have constructed a low-cost, yet powerful, in-air sonar system which is suited for a wide range of robotic applications. In particular, we show how simple array beamforming techniques allow for the generation of 3D spatial filters that can be used to accurately localize objects in a large field of view without the need for mechanical scanning. Experimental validation of the sensor's capacity to produce 3D location measurements in the presence of multiple highly overlapping echoes is presented.\",\"PeriodicalId\":6358,\"journal\":{\"name\":\"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"volume\":\"103 1\",\"pages\":\"3223-3228\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-12-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2012.6385584\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2012.6385584","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A sonar system using a sparse broadband 3D array for robotic applications
We describe how, by combining broadband beamforming with a sparse, random array of receivers, we have constructed a low-cost, yet powerful, in-air sonar system which is suited for a wide range of robotic applications. In particular, we show how simple array beamforming techniques allow for the generation of 3D spatial filters that can be used to accurately localize objects in a large field of view without the need for mechanical scanning. Experimental validation of the sensor's capacity to produce 3D location measurements in the presence of multiple highly overlapping echoes is presented.