A comparison of two methods for natural landmark classification with Biosonar

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dc.contributor Wilhelm-Schickard-Institut für Informatik, Tübingen de_CH
dc.contributor.author Wang, Maosen de_DE
dc.contributor.author Zell, Andreas de_DE
dc.contributor.author Müller, Rolf de_DE
dc.date.accessioned 2006-09-05 de_DE
dc.date.accessioned 2014-03-18T10:15:58Z
dc.date.available 2006-09-05 de_DE
dc.date.available 2014-03-18T10:15:58Z
dc.date.issued 2004 de_DE
dc.identifier.other 32168558X de_DE
dc.identifier.uri http://nbn-resolving.de/urn:nbn:de:bsz:21-opus-24503 de_DE
dc.identifier.uri http://hdl.handle.net/10900/48954
dc.description.abstract Most current sonar systems for mobile robots only yield time of flight distance information produced by measuring the time of a single sonar pulse. However, sonar systems of animals like sonar bats are much more sophisticated, allowing to recognize not only the shape, but also the type of landmark trees that they use during their nocturnal flights. In this paper we compare two methods for natural landmark classification by a biomimetic sonar consisting of one sender (mouth) and two receivers (ears). Our research aims to improve the navigation capabilities of mobile robots in natural and man-made environments, where economical and robust feature extrcation of potential landmarks such as trees is a key problem. We try to classify different species of trees from random orientations. Two methods utilized are intricate structure feature based and general structure feature based natural landmark classification. After a comparation of those two method's advantages and disadvantages, we forwarded a two-step Biosonar classification strategy for outdoor navigation of mobile robots. Experimental results indicate that a mobile robot with such a Biosonar system can achieve the ability to classify natural landmarks like trees only based on sonar. en
dc.language.iso en de_DE
dc.publisher Universität Tübingen de_DE
dc.rights cc_by de_DE
dc.rights.uri http://creativecommons.org/licenses/by/3.0/de/deed.de de_DE
dc.rights.uri http://creativecommons.org/licenses/by/3.0/de/deed.en en
dc.subject.classification Mobiler Roboter , Sonar , Echolot , Lokalisation , Landmarke de_DE
dc.subject.ddc 004 de_DE
dc.subject.other Biosonar , natürliche Landmarke , Klassifikation de_DE
dc.subject.other Biosonar , mobile robot en
dc.title A comparison of two methods for natural landmark classification with Biosonar en
dc.type Report (Bericht) de_DE
dc.date.updated 2012-10-11 de_DE
utue.publikation.fachbereich Sonstige - Biologie de_DE
utue.publikation.fachbereich Sonstige - Informations- und Kognitionswissenschaften de_DE
utue.publikation.fakultaet 7 Mathematisch-Naturwissenschaftliche Fakultät de_DE
dcterms.DCMIType Text de_DE
utue.publikation.typ report de_DE
utue.opus.id 2450 de_DE
utue.opus.portal wsi de_DE
utue.opus.portalzaehlung 2006.05000 de_DE
utue.publikation.source WSI ; 2006 ; 5 de_DE
utue.publikation.reihenname WSI-Reports - Schriftenreihe des Wilhelm-Schickard-Instituts für Informatik de_DE
utue.publikation.zsausgabe 2006, 5
utue.publikation.erstkatid 2919855-0


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