This paper describes a novel method of object recognition based upon the piece-wise linear approximation of ultrasonic echoes which, when tested with examples typical of a work cell environment, achieves classification success rates of 92-98%. The approach uses decision tree classifiers constructed from simple features derived from the echoes of a monostatic sonar and taken from a number of view points. The results illustrate the effect upon the method's classification success of the use of a single view point, the inclusion of additional view points, and the possibility of object rotations, for 22 classes of objects. The processes of feature extraction and classification are accomplished within a time comparable with the time of flight of the pulse, and hence the method has potential for real time applications.
Experiments in the piece-wise linear approximation of ultrasonic echoes for object recognition in manipulation tasks / I., Sillitoe; A., Visioli; Zanichelli, Francesco; Caselli, Stefano. - 1:(1996), pp. 353-359. (Intervento presentato al convegno 1996 IEEE International Conference on Robotics and Automation (ICRA'96) tenutosi a Minneapolis, MN (USA) nel April 22-28, 1996) [10.1109/ROBOT.1996.503802].
Experiments in the piece-wise linear approximation of ultrasonic echoes for object recognition in manipulation tasks
ZANICHELLI, Francesco;CASELLI, Stefano
1996-01-01
Abstract
This paper describes a novel method of object recognition based upon the piece-wise linear approximation of ultrasonic echoes which, when tested with examples typical of a work cell environment, achieves classification success rates of 92-98%. The approach uses decision tree classifiers constructed from simple features derived from the echoes of a monostatic sonar and taken from a number of view points. The results illustrate the effect upon the method's classification success of the use of a single view point, the inclusion of additional view points, and the possibility of object rotations, for 22 classes of objects. The processes of feature extraction and classification are accomplished within a time comparable with the time of flight of the pulse, and hence the method has potential for real time applications.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.