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首页> 外文期刊>IEEE Transactions on Robotics >Using PCA in Time-of-Flight Vectors for Reflector Recognition and 3-D Localization
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Using PCA in Time-of-Flight Vectors for Reflector Recognition and 3-D Localization

机译：在飞行时间向量中使用PCA进行反射器识别和3-D定位

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摘要

This paper presents a reflector recognition and localization technique in three-dimensional (3-D) environments, using only times-of-flight (TOFs) data obtained from ultrasonic transducers. The recognition and localization technique is based on the principal component analysis applied to the TOF vectors originating from a sensor that contains two emitting transducers and several receivers. The two emitters simultaneously transmit two coded pulses that are detected later on and discriminated by the receivers, after being reflected in the environment. The proposed technique allows for the possibility of not only recognizing the reflectors, but also estimating approximately its localization referred to the sensor. This technique has been tested with three types of reflectors in 3-D environments: planes, edges, and corners. The achieved results are very satisfactory for reflectors located in the range 50-350 cm.
机译：本文仅使用从超声换能器获得的飞行时间（TOF）数据，介绍了三维（3-D）环境中的反射器识别和定位技术。识别和定位技术基于主成分分析，该主成分分析应用于源自包含两个发射换能器和几个接收器的传感器的TOF向量。两个发射器同时发射两个编码脉冲，这些脉冲随后在环境中反射后在接收器上检测到并由接收器区分。所提出的技术不仅允许识别反射器，而且还可以大致估计其相对于传感器的位置。此技术已在3-D环境中用三种类型的反射器进行了测试：平面，边缘和角。对于位于50-350 cm范围内的反射镜，获得的结果非常令人满意。

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