Differentiating walls from corners using the amplitude of ultrasonic echoes

Ginés Benet Gilabert, Milagros Martínez, Francisco Blanes, Pascual Pérez, José E. Simó. Differentiating walls from corners using the amplitude of ultrasonic echoes. Robotics and Autonomous Systems, 50(1):13-25, 2005. [doi]

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