Abstract : Bats can navigate through foliage thanks to their biosonar. To build an image of their environment they emit ultrasonic pulses and analyse the corresponding echo signals which consist of a complex superposition of a set of highly overlapping reflected pulses coming from the targets at their different positions. We propose to use a sparse representation of echoes in overcomplete dictionaries to perform 3D imaging using biosonar signals. We show that even if the echosignal is a superposition of highly overlapping echoes the algorithm can efficiently reconstruct the image only from a single measurement. Those results can be useful from a robot sensor perspective where the robot has to find a free path. It can also help to understand better how bats can efficiently navigate through dense foliage.
Type de document :
Communication dans un congrès
Rémi Gribonval. SPARS'09 - Signal Processing with Adaptive Sparse Structured Representations, Apr 2009, Saint Malo, France. 2009
https://hal.inria.fr/inria-00369380
Contributeur : Ist Rennes
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Soumis le : jeudi 19 mars 2009 - 15:44:59
Dernière modification le : lundi 20 juin 2016 - 14:10:32
Document(s) archivé(s) le : vendredi 12 octobre 2012 - 13:50:28
Bertrand Fontaine, Herbert Peremans, Jan Steckel. 3D sparse imaging in biosonar scene analysis. Rémi Gribonval. SPARS'09 - Signal Processing with Adaptive Sparse Structured Representations, Apr 2009, Saint Malo, France. 2009. 〈inria-00369380〉
