home
***
CD-ROM
|
disk
|
FTP
|
other
***
search
/
vis-ftp.cs.umass.edu
/
vis-ftp.cs.umass.edu.tar
/
vis-ftp.cs.umass.edu
/
pub
/
CMU
/
cmu_files
/
desc
/
desc.sonar
next >
Wrap
Internet Message Format
|
1990-12-11
|
2KB
Received: from ROVER.RI.CMU.EDU by IUS1.CS.CMU.EDU; 17 Jun 86 10:38:34 EDT
Received: from IUS2.CS.CMU.EDU by ROVER.RI.CMU.EDU; 17 Jun 86 10:37:34 EDT
Date: 17 Jun 1986 10:14-EDT
From: Alberto.Elfes@ius2.cs.cmu.edu
To: lhm@rover
Subject: Sonar Data Set
Message-Id: <519401668/ae@ius2.cs.cmu.edu>
Larry,
The sonar files for our latest run are:
/../ius2/usr/ae/sonar/runs/run.21.05.86/sonar.data
sonar.path
1. 'sonar.data' contains the sonar range readings, stored as
sets, each in the format:
<position # : int> <# of sensors : int> <# of scans : int>
<sensor id : int> <range (ft) : float> <average (ft) : float>
<sensor id : int> <range (ft) : float> <average (ft) : float>
etc.
Note: The 'average' value is only useful if more that one scan
has been taken from a given position; that would correspond
to: <sensor id> <range> <range> <range> ... <average>
2. 'sonar.path' stores the positions at which the scans were taken.
The format is:
<position # : int> <x (ft) : float> <y (ft) : float>
<angle (radians) : float>
etc.
Note: 'angle' is measured as the angle between sensor # 0
and the x axis of the coordinate system.
-- Alberto
_______________________________________________________________________
Robert Heller:
There are 24 Polaroid sonar transducers arranged in a ring spaced
15 degrees apart. Sensor zero is aimed 9.68 degrees or 0.1689 radians
to the right of the centerline of the vehicle (see attached figure). The
ring is 29 1/4 inches from the floor, 10 3/4 inches forward of the vehicle
origin, and centered on the main axis of the vehicle. Its diameter is
27 3/8 inches. Sensors are numbered in clockwise order.
-- Larry