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<p>The physical properties of acoustic sensors are exploited to obtain information about the environment for sonar map building. A theoretical formulation for interpreting the sensor databases on the physical principles of acoustic propagation and reflection is presented. A characterization of the sonar scan that allows the differentiation of planes, corners, and edges in a specular environment is described. A single sensor mounted on an autonomous vehicle in a laboratory verifies the technique. The implications for sonar map building and the limitations of differentiating elements with one sensor are discussed.</p>
acoustic transducers; mobile robots; sonar map; specular environment; single mobile sensor; acoustic sensors; acoustic propagation; reflection; planes; corners; edges; autonomous vehicle; acoustic applications; acoustic signal processing; acoustic transducers; mobile robots; sonar

&. Bozma and R. Kuc, "Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 13, no. , pp. 1260-1269, 1991.
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