Estimation of Distance to Wall Surface using Omnidirectional Speaker
Estimation of Distance to Wall Surface using Omnidirectional Speaker
复制标题
使用全向扬声器估计到墙面的距离
DOI：
10.1109/gcce46687.2019.9015286
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
T. Ebihara
中科院分区：
文献类型：
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作者：
A. Tsuchiya;K. Mizutani;N. Wakatsuki;T. Ebihara
在本文中，我们提出了一种用于具有全向扬声器和麦克风的室内移动机器人的墙壁位置估计方法。在该方法中，从扬声器发出线性上行线性调频信号并由麦克风记录，并且通过计算发送信号和接收信号之间的互相关函数来测量房间的脉冲响应。此外，通过获得检测到的回波的延迟时间来估计到墙壁表面的距离。我们在室内机器人上实现了所提出的方法并进行了实验，表明它可以以 0.2 m 的精度进行估计。
In this paper, we propose a wall position estimation method for indoor mobile robots having omnidirectional speakers and microphones. In this method, a linear up-chirp signal is emit from the speaker and recorded by the microphone, and an impulse response of the room is measured by calculating a crosscorrelation function between the transmit and receive signals. Furthermore, the distance to the wall surface is estimated by obtaining the delay time of the detected an echo. We implemented the proposed method on an indoor robot and experimented it, suggesting that it can estimate with an accuracy of 0.2 m.