A feasibility study on guided wave-based robotic mapping

Morteza Tabatabaeipour, Oksana Trushkevych, Gordon Dobie, Rachel S. Edwards, Steven Dixon, Charles MacLeod, Anthony Gachagan, S. Gareth Pierce

Research output: Contribution to conferencePaperpeer-review


Ultrasonic guided wave imaging techniques have received much attention in recent years for fast screening of large structures. Here we explore the feasibility of Occupancy Grid Mapping (OGM) in order to construct a map of an unknown component for inspection. OGM is a well-established algorithm in robotics, but for the first time we are applying it to Shear Horizontal (SH) guided wave imaging. This approach, in contrast to some existing guided wave-based imaging techniques, would not require prior knowledge of an intact state of the sample. OGM works on the ranges obtained by the Time of Flight (ToF) of the received signals operating in pseudo-pulse-echo mode.
Original languageEnglish
Publication statusPublished (in print/issue) - 6 Oct 2019
Event2019 IEEE International Ultrasonics Symposium - Glasgow, United Kingdom
Duration: 6 Oct 20199 Oct 2019


Conference2019 IEEE International Ultrasonics Symposium
Abbreviated titleIUS 2019
Country/TerritoryUnited Kingdom
Internet address

Bibliographical note

© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.; 2019 IEEE International Ultrasonics Symposium : IEEE UFFC, IUS 2019 ; Conference date: 06-10-2019 Through 09-10-2019


  • ultrasonic inspection
  • SH guided waves
  • occupancy grid mapping
  • robotic mapping
  • EMAT


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