NDLI: Biomimetic Sonar System Performing Spectrum-Based Localization

Content Provider	IEEE Xplore Digital Library
Author	Reijniers, J. Peremans, H.
Copyright Year	2004
Abstract	In this paper, we study echolocation by spectral analysis as a biomimetic, i.e., inspired by bats, mechanism to observe a realistic environment. We propose a method to localize, i.e., to estimate the distance and bearing of reflectors, on the basis of a time-frequency representation of the returned echo similar to the one derived by the bat's cochlea. The sonar system consists of a central transmitter, and two receivers pointing plusmn5deg outward. The method proposed reconstructs the environment by comparing the returned echoes with binaural spectral templates corresponding with echoes from different angles. We further show that a distance matrix defined on the set of templates can be used as a measure of their accuracy and reliability for localization purposes. We include experimental results that validate the system and indicate that it can deal with the complex echo signals received when confronted with realistic reflectors, i.e., possibly consisting of a large number of closely spaced scatterers.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	1151
Ending Page	1159
Page Count	9
File Size	521794
File Format	PDF
ISSN	15523098
Volume Number	23
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biomimetics Sonar navigation Scattering Robot sensing systems Orbital robotics Shape Spectral analysis Transmitters Sonar measurements Ear spectral template Biomimetic sensor localization robotics sonar
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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