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Monte-Carlo Localization on Metal Plates Based on Ultrasonic Guided Waves

Abstract : In this work, we propose a method based on a particle filter for the localization of an industrial robot on a large metal structure that leverages first-order reflections of acoustic waves on metal plate's edges. In our approach, the acoustic measurements are acquired in a (pseudo) pulse-echo mode using a co-localized emitter/receiver pair of piezoelectric transducers. The acquisition of data is done manually but it is aimed to be performed by a robot in the future. A known size of the metal plate is assumed.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-03120508
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Submitted on : Monday, January 25, 2021 - 4:17:09 PM
Last modification on : Wednesday, November 3, 2021 - 8:36:08 AM
Long-term archiving on: : Monday, April 26, 2021 - 7:19:49 PM

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ISER2020_Final_Draft.pdf
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  • HAL Id : hal-03120508, version 1

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Othmane-Latif Ouabi, Pascal Pomarede, Matthieu Geist, Nico Felicien Declercq, Cedric Pradalier. Monte-Carlo Localization on Metal Plates Based on Ultrasonic Guided Waves. International Symposium on Experimental Robotics, Nov 2020, Malte, Malta. ⟨hal-03120508⟩

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