泡泡一分钟：eRTIS - A Fully Embedded Real Time 3D Imaging Sonar Sensor for Robotic Applications

eRTIS - A Fully Embedded Real Time 3D Imaging Sonar Sensor for Robotic Applications

eRTIS  - 用于机器人应用的全嵌入式实时3D成像声纳传感器

链接：https://pan.baidu.com/s/1493U3I3mO5TVUB7ne9jjaw
提取码：ivj5

Robin Kerstens, Dennis Laurijssen, Jan Steckel

Abstract—Many popular advanced sonar systems provide accurate and reliable measurements containing crucial info needed by robotic applications such as range, bearing and reflection strength of the objects in the field of view. While these sensor systems provide these crucial pieces of information accurately, they are often limited by a lack of processing power and/or size which leads to them needing an external computing device to process all the information generated by the microphone array on the sensor. In this paper we present two versions of a novel fully embedded 3D sonar sensor which have different sensing architectures which enable 3D perception for robotic application in harsh conditions using ultrasound at lowcost.Experimental results taken from an office environment will show the 3D localization capabilities and performance of the sensor, showing the sensor has a large field-of-view (FoV) with accurate 3D localization combined with real-time capabilities.

许多流行的先进声纳系统提供准确可靠的测量，包含机器人应用所需的关键信息，例如视野中物体的范围，方位和反射强度。虽然这些传感器系统准确地提供这些关键信息，但是它们通常受到缺乏处理能力和/或尺寸的限制，这导致它们需要外部计算设备来处理由传感器上的麦克风阵列产生的所有信息。在本文中，我们提出了两种版本的新型全嵌入式三维声纳传感器，它具有不同的传感架构，能够在低成本超声波的恶劣条件下实现机器人应用的3D感知。从一个完整的环境中获得的实验结果将显示传感器的3D定位能力和性能，显示传感器具有大视场（FoV），具有精确的3D定位和实时功能。