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In this work, an analysis of the transmission of ultrasonic signals generated by piezoelectric sensors for air applications is presented. Based on this analysis, an ultrasonic response model is obtained for its application to the recognition of objects and structured environments for navigation by autonomous mobile robots. This model enables the analysis of… (More)
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This article introduces a novel approach for finding a rigid transformation that coarsely aligns two 3D point clouds. The algorithm performs an iterative comparison between 2D descriptors by using a purpose-designed similarity measure in order to find correspondences between two 3D point clouds sensed from different positions of a free-form object. The… (More)