Kumon Makoto, Fukunaga Rikuto, Manabe Tomoya, Nakatsuma Kei
Faculty of Advanced Science and Technology, Kumamoto University, Kumamoto, Japan.
Graduate School of Science and Technology, Kumamoto University, Kumamoto, Japan.
Front Robot AI. 2022 Apr 25;9:872964. doi: 10.3389/frobt.2022.872964. eCollection 2022.
This paper proposes the use of the standing waves created by the interference between transmitted and reflected acoustic signals to recognize the size and the shape of a target object. This study shows that the profile of the distance spectrum generated by the interference encodes not only the distance to the target, but also the distance to the edges of the target surface. To recognize the extent of the surface, a high-resolution distance spectrum is proposed, and a method to estimate the points on the edges by incorporating observations from multiple measurement is introduced. Numerical simulations validated the approach and showed that the method worked even in the presence of noise. Experimental results are also shown to verify that the method works in a real environment.
本文提出利用透射声信号和反射声信号干涉产生的驻波来识别目标物体的尺寸和形状。本研究表明，干涉产生的距离谱轮廓不仅编码了到目标的距离，还编码了到目标表面边缘的距离。为了识别表面范围，提出了一种高分辨率距离谱，并介绍了一种通过合并多次测量的观测值来估计边缘点的方法。数值模拟验证了该方法，结果表明该方法即使在存在噪声的情况下也能工作。实验结果也证明了该方法在实际环境中有效。
