{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T06:13:36Z","timestamp":1778307216155,"version":"3.51.4"},"reference-count":28,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2000,10,1]],"date-time":"2000-10-01T00:00:00Z","timestamp":970358400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,10]]},"abstract":"<jats:p>In this paper, we describe the use of a broadband, frequency modulated sonar sensor                 (a CTFM sonar) for generating maps of structured environments for robots and                 autonomous systems. The major advantage of using these sensors is that the                 information generated is reliable enough to extract the geometry and type of certain                 features with very few measurements; hence, maps can be generated rapidly. Although                 the technology of low-cost CTFM sonar has been available for some time, it has only                 very recently been considered seriously as a candidate sensor for navigation and                 mapping in spite of its superior performance. We describe the operation of the                 sensor and the use of both the range-orientation and amplitude-orientation profiles                 to extract information online and point targets in both smooth and rough                 environments. We demonstrate the method through generating a map for a room typical                 of a modern building (in fact, in a domestic house), using resolution of scanning                 increment from 1.8 deg down to 10.8 deg. We examine the robustness of the method as                 the number of measurements is reduced through introducing two quality metrics for                 each map.<\/jats:p>","DOI":"10.1177\/02783640022067850","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"895-913","source":"Crossref","is-referenced-by-count":9,"title":["Feature Extraction from a Broadband Sonar Sensor for Mapping Structured                 Environments Efficiently"],"prefix":"10.1177","volume":"19","author":[{"given":"Gordon","family":"Kao","sequence":"first","affiliation":[{"name":"Logica, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Penny","family":"Probert","sequence":"additional","affiliation":[{"name":"Dept of Engineering Science, University of Oxford, Parks Road, Oxford, UK                         OX1 3PJ"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,10]]},"reference":[{"key":"e_1_2_1_1_1","unstructured":"Bar-Shalom Y. and Fortmann T. 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