NDLI: Experiments in the piece-wise linear approximation of ultrasonic echoes for object recognition in manipulation tasks

Content Provider	IEEE Xplore Digital Library
Author	Sillitoe, I. Visioli, A. Zanichelli, F. Caselli, S.
Copyright Year	1996
Description	Author affiliation: Dept. of Eng. Sci., Univ. Coll. Boras, Sweden (Sillitoe, I.)
Abstract	This paper describes a novel method of object recognition based upon the piece-wise linear approximation of ultrasonic echoes which, when tested with examples typical of a work cell environment, achieves classification success rates of 92-98%. The approach uses decision tree classifiers constructed from simple features derived from the echoes of a monostatic sonar and taken from a number of view points. The results illustrate the effect upon the method's classification success of the use of a single view point, the inclusion of additional view points, and the possibility of object rotations, for 22 classes of objects. The processes of feature extraction and classification are accomplished within a time comparable with the time of flight of the pulse, and hence the method has potential for real time applications.
Starting Page	353
Ending Page	359
File Size	787709
Page Count	7
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.503802
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Piecewise linear techniques Object recognition Temperature sensors Mobile robots Mechanical variables measurement Position measurement Sonar measurements Acoustic reflection Educational institutions Testing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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