NDLI: Feature Extraction Algorithm Fusion for SONAR Sensor Data Based Environment Mapping

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Ismail, Hesham Balachandran, Balakumar
Copyright Year	2014
Abstract	Mobile platforms that make use of concurrent localization and mapping algorithms have industrial applications for autonomous inspection and maintenance, such as the inspection of flaws and defects in oil pipelines and storage tanks. An important component of these algorithms is feature extraction, which involves detection of significant features that represent the environment. For example, points and lines can be used to represent features such as corners, edges, and walls. Feature extraction algorithms make use of relative position and angle data from sensor measurements gathered as the mobile vehicle traverses the environment. In this paper, sound navigation and ranging (SONAR) sensor data obtained from a mobile vehicle platform are considered for feature extraction and related algorithms are developed and studied. In particular, different combinations of commonly used feature extraction algorithms are examined to enhance the representation of the environment. The authors fuse the Triangulation Based Fusion (TBF), Hough Transfrom (HT), and SONAR salient feature extraction algorithms with the clustering algorithm. It is shown that the novel algorithm fusion can be used to capture walls, corners as well as features such as gaps in walls. This capability can be used to obtain additional information about the environment. Details of the algorithm fusion are discussed and presented along with results obtained through experiments.
File Format	PDF
ISBN	9780791846476
DOI	10.1115/IMECE2014-37116
Volume Number	Volume 4A: Dynamics, Vibration, and Control
Conference Proceedings	ASME 2014 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2014-11-14
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Algorithms Navigation Pipelines Inspection Feature extraction Sensors Maintenance Storage tanks Corners (structural elements) Vehicles
Content Type	Text
Resource Type	Article

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