Feature detection and identification using a sonar-array

This work explores techniques for sonar sensor fusion in the context of environmental feature detection and identification for navigation tasks. By detecting common features in indoor environments and using them as landmarks, a robot can navigate reliably, recovering its pose when necessary. Preliminary results on a multiple hypothesis testing procedure for feature localization and identification show that accurate feature information can be acquired with adequate sonar models and configurations. In addition, a method that associates sonar configuration with the precision of feature extraction is discussed, as well as its utility for guiding an active sonar sensor.