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Ultrasonic classification and location of 3D room features using maximum likelihood estimation - Part II

Published online by Cambridge University Press:  01 November 1997

Mun-Li Hong  and
Lindsay Kleeman
Mun-Li Hong
Affiliation:
School of Applied Science, Nanyang Technological University, Singapore
Lindsay Kleeman
Affiliation:
Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Victoria 3168, Australia
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Abstract

This paper is part II of a paper published in the previous issue of Robotica. This part proceeds from the assumption that 3D features have been calssified into either a plane, a 2D corner type I or II, or a 3D corner using the Maximum Likelihood Estimator. The location of the 3D features from the results of the Maximum Likelihood Estimation are derived here. Experimental results characterising the ultrasonic sensor and its application to a robot localisation problem are presented in this paper.

Keywords

Ultrasonic sensors3D featuresMaximum likelihood estimation
Type
Research Article
Information
Robotica , Volume 15 , Issue 6 , November 1997 , pp. 645 - 652
Copyright
© 1997 Cambridge University Press

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Footnotes

This work was conducted at the Dept. of Electrical and Computer Systems Engineering, Monash University, Clayton, Australia under the Monash Graduate Scholarship. Part I appeared in the previous issue of Robotica.