Distance estimation of hidden objects based on acoustical holography by applying acoustic diffraction of audible sound

Haruhiko Niwa, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Occlusion is a problem for range finders; ranging systems using cameras or lasers cannot be used to estimate distance to an object (hidden object) that is occluded by another (obstacle). We developed a method to estimate the distance to the hidden object by applying acoustic diffraction of audible sound. Our method is based on time-of-flight (TOF), which has been used in ultrasound ranging systems. We determined the best frequency of audible sound and designed its optimal modulated signal for our system. We determined that the system estimates the distance to the hidden object as well as the obstacle. However, the measurement signal obtained from the hidden object was weak. Thus, interference from sound signals reflected from other objects or walls was not negligible. Therefore, we combined acoustical holography (AH) and TOF, which enabled a partial analysis of the reflection sound intensity field around the obstacle and hidden object. Our method was effective for ranging two objects of the same size within a 1.2 m depth range. The accuracy of our method was 3 cm for the obstacle, and 6 cm for the hidden object.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages423-428
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome
Duration: 2007 Apr 102007 Apr 14

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CityRome
Period07/4/1007/4/14

Fingerprint

Holography
Diffraction
Acoustics
Acoustic waves
Acoustic intensity
Range finders
Ultrasonics
Cameras
Lasers

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Niwa, H., Ogata, T., Komatani, K., & Okuno, H. G. (2007). Distance estimation of hidden objects based on acoustical holography by applying acoustic diffraction of audible sound. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 423-428). [4209128] https://doi.org/10.1109/ROBOT.2007.363823

Distance estimation of hidden objects based on acoustical holography by applying acoustic diffraction of audible sound. / Niwa, Haruhiko; Ogata, Tetsuya; Komatani, Kazunori; Okuno, Hiroshi G.

Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 423-428 4209128.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Niwa, H, Ogata, T, Komatani, K & Okuno, HG 2007, Distance estimation of hidden objects based on acoustical holography by applying acoustic diffraction of audible sound. in Proceedings - IEEE International Conference on Robotics and Automation., 4209128, pp. 423-428, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363823
Niwa H, Ogata T, Komatani K, Okuno HG. Distance estimation of hidden objects based on acoustical holography by applying acoustic diffraction of audible sound. In Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 423-428. 4209128 https://doi.org/10.1109/ROBOT.2007.363823
Niwa, Haruhiko ; Ogata, Tetsuya ; Komatani, Kazunori ; Okuno, Hiroshi G. / Distance estimation of hidden objects based on acoustical holography by applying acoustic diffraction of audible sound. Proceedings - IEEE International Conference on Robotics and Automation. 2007. pp. 423-428
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