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C. Walter, H. Schweinzer:
"Locating and classifying of objects with a compact ultrasonic 3D sensor";
Vortrag: International Conference on Indoor Positioning and Indoor Navigation, Montbeliard, France; 28.10.2013 - 31.10.2013; in: "2013 International Conference on Indoor Positioning and Indoor Navigation", (2013), S. 130 - 133.

Various applications exist for scene analysis based on ultrasonic sensors - including robotics, automation, map building and obstacle avoidance. We present a compact sensor for 3D scene Analysis with a wide field of view extending the mainlove of the transducer, inherent 3D Location awareness and low cost. The sensor employs a centered electrostatic transducer and four microphones in a small size spatial configuration. Accurate time of flight measurements are performed using pulse compression techniques. Low-cost i achieved by using binary correlation techniques allowing the use of single bit A/D converters. Precise angle of Arrival measurements are performed using multichannel cross-correlation between microphones. This Information together with multiple measurements at different positions is used to obtain a cloud of 3D relection points. These points are further processed, segmented into groups and identified with physical objects if possible. Measurements are then compared with a simulation of the scene showing the suitability of our sensor for scene analysis.