Hahne, Christopher (2023). 3-Dimensional Sonic Phase-invariant Echo Localization. In: 2023 IEEE International Conference on Robotics and Automation (ICRA). 10.1109/ICRA48891.2023.10161199
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2306.08281.pdf - Published Version Available under License Creative Commons: Attribution (CC-BY). Download (3MB) | Preview |
Parallax and Time-of-Flight (ToF) are often regarded as complementary in robotic vision where various light and weather conditions remain challenges for advanced camera-based 3-Dimensional (3-D) reconstruction. To this end, this paper establishes Parallax among Corresponding Echoes (PaCE) to triangulate acoustic ToF pulses from arbitrary sensor positions in 3-D space for the first time. This is achieved through a novel round-trip reflection model that pinpoints targets at the intersection of ellipsoids, which are spanned by sensor locations and detected arrival times. Inter-channel echo association becomes a crucial prerequisite for target detection and is learned from feature similarity obtained by a stack of Siamese Multi-Layer Perceptrons (MLPs). The PaCE algorithm enables phase-invariant 3-D object localization from only 1 isotropic emitter and at least 3 ToF receivers with relaxed sensor position constraints. Experiments are conducted with airborne ultrasound sensor hardware and back this hypothesis with quantitative results.
Item Type: |
Conference or Workshop Item (Paper) |
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Division/Institute: |
10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - AI in Medical Imaging Laboratory |
UniBE Contributor: |
Hahne, Christopher |
Subjects: |
600 Technology > 610 Medicine & health |
Funders: |
[159] Hasler Foundation |
Language: |
English |
Submitter: |
Christopher Hahne |
Date Deposited: |
08 Nov 2023 12:51 |
Last Modified: |
08 Nov 2023 12:51 |
Publisher DOI: |
10.1109/ICRA48891.2023.10161199 |
ArXiv ID: |
2306.08281v2 |
BORIS DOI: |
10.48350/188666 |
URI: |
https://boris.unibe.ch/id/eprint/188666 |
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