Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps
In this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by Ducted Vacuum Dust Bags spherical caps.An enclosed environment is scanned by employing a single ultrasonic device.The range, position, and orientation of the transducer are used to digitize the uncertainty caps and