Object shape recognition using electric sense and ellipsoid's polarization tensor

Sylvain Lanneau; Vincent Lebastard; Frédéric Boyer

ICRA 201612 citations

Object shape recognition using electric sense and ellipsoid's polarization tensor

Sylvain Lanneau, Vincent Lebastard, Frédéric Boyer

Abstract

This paper deals with the geometrical properties of an ellipsoidal object (aspect ratio, volume, orientation) estimation with an underwater sensor inspired by the uncommon sense of the electric fish. The proposed method first locates the object independently of its geometrical properties thanks to the MUSIC (MUltiple SIgnal Classification) algorithm and then, estimates the geometrical properties using an optimization method and the object's electrical response model. The simulation results show the relevance of the method.

BibTeX

@inproceedings{icra2016_objectshaperecog,
  title = {Object shape recognition using electric sense and ellipsoid's polarization tensor},
  author = {Sylvain Lanneau and Vincent Lebastard and Frédéric Boyer},
  booktitle = {ICRA 2016},
  year = {2016}
}