{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:53:45Z","timestamp":1777715625938,"version":"3.51.4"},"reference-count":57,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2006,2,1]],"date-time":"2006-02-01T00:00:00Z","timestamp":1138752000000},"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":[[2006,2]]},"abstract":"<jats:p>\n                    <jats:italic toggle=\"yes\">We present an algorithm to distinguish several types of brick walls, picket fences, and hedges based on the analysis of backscattered sonar echoes. The echo data are acquired by a mobile robot with a single-transducer 50 kHz pulse-echo sonar computer-controlled scanning system packaged as its sensor head. For several locations along a wall, fence, or hedge, a fan of backscatter sonar echoes is acquired, digitized, and stored on a computer as the sonar transducer is swept over a horizontal arc. Off-line, each digitized echo waveform is then rectified, smoothed, and summed to give a measure of the backscatter strength. This backscatter is then plotted versus scan angle, with a series of N-peak deformable templates fit to these data for each scan. The number of peaks in the best-fitting N-peak template indicates the presence and location of retro-reflectors, and allows automatic categorization of the various fences, hedges, and brick walls.<\/jats:italic>\n                  <\/jats:p>","DOI":"10.1177\/0278364906059328","type":"journal-article","created":{"date-parts":[[2006,2,2]],"date-time":"2006-02-02T04:28:07Z","timestamp":1138854487000},"page":"135-145","source":"Crossref","is-referenced-by-count":14,"title":["Mobile Robot Sonar Backscatter Algorithm for Automatically Distinguishing Walls, Fences, and Hedges"],"prefix":"10.1177","volume":"25","author":[{"given":"Wen","family":"Gao","sequence":"first","affiliation":[{"name":"The College of William and Mary in Virginia, Department of Applied Science, Williamsburg, VA 23187-8795, USA"}]},{"given":"Mark","family":"Hinders","sequence":"additional","affiliation":[{"name":"The College of William and Mary in Virginia, Department of Applied Science, Williamsburg, VA 23187-8795, USA,"}]}],"member":"179","published-online":{"date-parts":[[2006,2]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"crossref","unstructured":"Au W. W. L. 1993. The Sonar of Dolphins Springer-Verlag Berlin.","DOI":"10.1007\/978-1-4612-4356-4"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700602"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(01)00017-X"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(01)00120-4"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-3203(02)00167-X"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-3203(03)00226-7"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1088\/0957-0233\/11\/6\/330"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-3203(00)00083-2"},{"key":"e_1_2_1_9_1","doi-asserted-by":"crossref","unstructured":"Barshan B. and Baskent D. 2001b. Map building from range data with mathematical morphology. Active Sensors for Local Planning in Mobile Robotics P. Probert Smith editor Series in Robotics and Intelligent Systems World Scientific Singapore Vol. 26 Chapter 7 pp.111-135.","DOI":"10.1142\/9789812811141_0007"},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/21.156577"},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1121\/1.426838"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066565"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2003.09.005"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-3203(01)00025-5"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499901800101"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499901800102"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0263-2241(99)00031-7"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087002"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-3203(96)00086-6"},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/0893-6080(94)00057-S"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700602"},{"key":"e_1_2_1_22_1","unstructured":"Gao W. 2005. Sonar sensor interpretation for ectogenous robots Ph. D. Dissertation College of William and Mary Williamsburg VA."},{"key":"e_1_2_1_23_1","unstructured":"Griffin D. R. 1958. Listening in the Dark Yale University Press New Haven CT."},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(00)00112-3"},{"key":"e_1_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-3203(97)00131-3"},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.485555"},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1108\/02602289910279193"},{"key":"e_1_2_1_28_1","doi-asserted-by":"crossref","unstructured":"Kleeman L. 1999b. Fast and accurate sonar trackers using double pulse coding. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems Kyongju Korea October pp.1185-1190.","DOI":"10.1109\/IROS.1999.812840"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041321"},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400401"},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1121\/1.398898"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1015508906105"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/0921-8890(93)90026-9"},{"key":"e_1_2_1_34_1","first-page":"1966","volume":"96","year":"1994","unstructured":"Kuc, R. 1994. Sensorimotor model of bat echolocation and prey capture. Journal of the Acoustical Society of America 96(4):1966-1977.","journal-title":"Journal of the Acoustical Society of America"},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1121\/1.416004"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1121\/1.419658"},{"key":"e_1_2_1_37_1","unstructured":"Kuc R. 2001. Biomimetic sonar recognizes objects from echoes. Biosonar J. Thomas editor University of Chicago Press Chicago."},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022002004"},{"key":"e_1_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1121\/1.1779273"},{"key":"e_1_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/48.312915"},{"key":"e_1_2_1_41_1","doi-asserted-by":"crossref","unstructured":"Leonard J. J. and Durrant-Whyte H. F. 1992. Directed Sonar Sensing for Mobile Robot Navigation Kluwer Academic Dordrecht.","DOI":"10.1007\/978-1-4615-3652-9"},{"key":"e_1_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1015084304191"},{"key":"e_1_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1108\/02602289910279139"},{"key":"e_1_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/7361.983464"},{"key":"e_1_2_1_45_1","first-page":"80","volume":"27","year":"1912","unstructured":"Maxim, H. 1912. Preventing collisions at sea: a mechanical application of the bat\u2019s sixth sense. Scientific American 27:80-81.","journal-title":"Scientific American"},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.825752"},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.12.002"},{"key":"e_1_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(03)00096-4"},{"key":"e_1_2_1_49_1","unstructured":"Rosefeld A. and Kak A. C. 1982. Digital Picture Processing 2nd edition Academic Press New York Vol. 2 Chapter 9."},{"key":"e_1_2_1_50_1","doi-asserted-by":"crossref","unstructured":"Sasaki K. and Takano M. 1992. Classification of objects\u2019 surface by acoustic transfer function. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems Raleigh NC July 7-10 pp. 821-828.","DOI":"10.1109\/IROS.1992.594488"},{"key":"e_1_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0003-682X(00)00077-3"},{"key":"e_1_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1121\/1.398694"},{"key":"e_1_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.758674"},{"key":"e_1_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.608291"},{"key":"e_1_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1016\/0924-4247(93)80067-Q"},{"key":"e_1_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066277"},{"key":"e_1_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00127169"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906059328","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906059328","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:43Z","timestamp":1777457743000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364906059328"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,2]]},"references-count":57,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2006,2]]}},"alternative-id":["10.1177\/0278364906059328"],"URL":"https:\/\/doi.org\/10.1177\/0278364906059328","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2006,2]]}}}