Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

In this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digit...

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Autores:
Moreno-Ortiz, Fabio Tomás
Castillo-Castañeda, Eduardo
Hernández-Zavala, Antonio
Tipo de recurso:
Article of journal
Fecha de publicación:
2017
Institución:
Universidad Nacional de Colombia
Repositorio:
Universidad Nacional de Colombia
Idioma:
spa
OAI Identifier:
oai:repositorio.unal.edu.co:unal/67556
Acceso en línea:
https://repositorio.unal.edu.co/handle/unal/67556
http://bdigital.unal.edu.co/68585/
Palabra clave:
62 Ingeniería y operaciones afines / Engineering
Ultrasonic arc map
sonar resolution
SLAM
Bresenham algorithm
voxelized spherical cap
beam pattern
spatial voting
Mapa de arco ultrasónico
resolución del sonar
SLAM
algoritmo de Bresenham
casquete esférico voxelizado
patrón de dispersión
votación espacial
Rights
openAccess
License
Atribución-NoComercial 4.0 Internacional
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network_name_str Universidad Nacional de Colombia
repository_id_str
spelling Atribución-NoComercial 4.0 InternacionalDerechos reservados - Universidad Nacional de Colombiahttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Moreno-Ortiz, Fabio Tomás3be22a4b-30f8-4b68-a04a-4226979b52a5300Castillo-Castañeda, Eduardoa04b2c08-5ba8-485b-95fb-51bb9b5f8fa4300Hernández-Zavala, Antonioc090521e-9432-4162-a5f3-7cb8d36282313002019-07-03T04:32:09Z2019-07-03T04:32:09Z2017-09-01ISSN: 2248-8723https://repositorio.unal.edu.co/handle/unal/67556http://bdigital.unal.edu.co/68585/In this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digitize the uncertainty caps and place them in a three-dimensional map. Through the spatial voting method, the generated voxels are elected in order to distinguish those which mark the true position of an obstacle and discard those that are produced by cross talk, noise, fake ranges, and angular resolution. The results show that it is possible to obtain sufficient information to build a three-dimensional map for navigation by employing inexpensive sensors and a low power data processing.En este artículo, un método de mapa de arcos ultrasónicos para mapeo plano es extendido al espacio tridimensional, remplazando los arcos de circunferencia por casquetes esféricos. Un ambiente cerrado es explorado empleando solo un dispositivo ultrasónico. La distancia, posición y orientación del transductor son utilizadas para digitalizar casquetes de incertidumbre y colocarlos en un mapa tridimensional. A través del método de votación espacial, los voxeles generados son elegidos con el propósito de distinguir aquellos que marcan la posición real de un obstáculo y descartar aquellos producidos por diafonía, ruido, lecturas falsas y la resolución angular. Los resultados muestran que es posible obtener suficiente información para construir un mapa tridimensional para navegación mediante el empleo de sensores de bajo costo y un procesamiento de datos de baja potencia.application/pdfspaUniversidad Nacional de Colombia - Sede Bogotá - Facultad de Ingenieríahttps://revistas.unal.edu.co/index.php/ingeinv/article/view/59508Universidad Nacional de Colombia Revistas electrónicas UN Ingeniería e InvestigaciónIngeniería e InvestigaciónMoreno-Ortiz, Fabio Tomás and Castillo-Castañeda, Eduardo and Hernández-Zavala, Antonio (2017) Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps. Ingeniería e Investigación, 37 (3). 37 - 44. ISSN 2248-872362 Ingeniería y operaciones afines / EngineeringUltrasonic arc mapsonar resolutionSLAMBresenham algorithmvoxelized spherical capbeam patternspatial votingMapa de arco ultrasónicoresolución del sonarSLAMalgoritmo de Bresenhamcasquete esférico voxelizadopatrón de dispersiónvotación espacialDetection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical capsArtículo de revistainfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1http://purl.org/coar/version/c_970fb48d4fbd8a85Texthttp://purl.org/redcol/resource_type/ARTORIGINAL59508-368050-1-PB.pdfapplication/pdf3303220https://repositorio.unal.edu.co/bitstream/unal/67556/1/59508-368050-1-PB.pdfbbd4d78e38911f34c85cbff26bbd4397MD51THUMBNAIL59508-368050-1-PB.pdf.jpg59508-368050-1-PB.pdf.jpgGenerated Thumbnailimage/jpeg8887https://repositorio.unal.edu.co/bitstream/unal/67556/2/59508-368050-1-PB.pdf.jpg6c03928574d3cc2e35537c77fa6a5175MD52unal/67556oai:repositorio.unal.edu.co:unal/675562023-05-30 23:03:07.158Repositorio Institucional Universidad Nacional de Colombiarepositorio_nal@unal.edu.co
dc.title.spa.fl_str_mv Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
title Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
spellingShingle Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
62 Ingeniería y operaciones afines / Engineering
Ultrasonic arc map
sonar resolution
SLAM
Bresenham algorithm
voxelized spherical cap
beam pattern
spatial voting
Mapa de arco ultrasónico
resolución del sonar
SLAM
algoritmo de Bresenham
casquete esférico voxelizado
patrón de dispersión
votación espacial
title_short Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
title_full Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
title_fullStr Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
title_full_unstemmed Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
title_sort Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
dc.creator.fl_str_mv Moreno-Ortiz, Fabio Tomás
Castillo-Castañeda, Eduardo
Hernández-Zavala, Antonio
dc.contributor.author.spa.fl_str_mv Moreno-Ortiz, Fabio Tomás
Castillo-Castañeda, Eduardo
Hernández-Zavala, Antonio
dc.subject.ddc.spa.fl_str_mv 62 Ingeniería y operaciones afines / Engineering
topic 62 Ingeniería y operaciones afines / Engineering
Ultrasonic arc map
sonar resolution
SLAM
Bresenham algorithm
voxelized spherical cap
beam pattern
spatial voting
Mapa de arco ultrasónico
resolución del sonar
SLAM
algoritmo de Bresenham
casquete esférico voxelizado
patrón de dispersión
votación espacial
dc.subject.proposal.spa.fl_str_mv Ultrasonic arc map
sonar resolution
SLAM
Bresenham algorithm
voxelized spherical cap
beam pattern
spatial voting
Mapa de arco ultrasónico
resolución del sonar
SLAM
algoritmo de Bresenham
casquete esférico voxelizado
patrón de dispersión
votación espacial
description In this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digitize the uncertainty caps and place them in a three-dimensional map. Through the spatial voting method, the generated voxels are elected in order to distinguish those which mark the true position of an obstacle and discard those that are produced by cross talk, noise, fake ranges, and angular resolution. The results show that it is possible to obtain sufficient information to build a three-dimensional map for navigation by employing inexpensive sensors and a low power data processing.
publishDate 2017
dc.date.issued.spa.fl_str_mv 2017-09-01
dc.date.accessioned.spa.fl_str_mv 2019-07-03T04:32:09Z
dc.date.available.spa.fl_str_mv 2019-07-03T04:32:09Z
dc.type.spa.fl_str_mv Artículo de revista
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dc.type.driver.spa.fl_str_mv info:eu-repo/semantics/article
dc.type.version.spa.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.coar.spa.fl_str_mv http://purl.org/coar/resource_type/c_6501
dc.type.coarversion.spa.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.content.spa.fl_str_mv Text
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format http://purl.org/coar/resource_type/c_6501
status_str publishedVersion
dc.identifier.issn.spa.fl_str_mv ISSN: 2248-8723
dc.identifier.uri.none.fl_str_mv https://repositorio.unal.edu.co/handle/unal/67556
dc.identifier.eprints.spa.fl_str_mv http://bdigital.unal.edu.co/68585/
identifier_str_mv ISSN: 2248-8723
url https://repositorio.unal.edu.co/handle/unal/67556
http://bdigital.unal.edu.co/68585/
dc.language.iso.spa.fl_str_mv spa
language spa
dc.relation.spa.fl_str_mv https://revistas.unal.edu.co/index.php/ingeinv/article/view/59508
dc.relation.ispartof.spa.fl_str_mv Universidad Nacional de Colombia Revistas electrónicas UN Ingeniería e Investigación
Ingeniería e Investigación
dc.relation.references.spa.fl_str_mv Moreno-Ortiz, Fabio Tomás and Castillo-Castañeda, Eduardo and Hernández-Zavala, Antonio (2017) Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps. Ingeniería e Investigación, 37 (3). 37 - 44. ISSN 2248-8723
dc.rights.spa.fl_str_mv Derechos reservados - Universidad Nacional de Colombia
dc.rights.coar.fl_str_mv http://purl.org/coar/access_right/c_abf2
dc.rights.license.spa.fl_str_mv Atribución-NoComercial 4.0 Internacional
dc.rights.uri.spa.fl_str_mv http://creativecommons.org/licenses/by-nc/4.0/
dc.rights.accessrights.spa.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv Atribución-NoComercial 4.0 Internacional
Derechos reservados - Universidad Nacional de Colombia
http://creativecommons.org/licenses/by-nc/4.0/
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.mimetype.spa.fl_str_mv application/pdf
dc.publisher.spa.fl_str_mv Universidad Nacional de Colombia - Sede Bogotá - Facultad de Ingeniería
institution Universidad Nacional de Colombia
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