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Sonar effects(a) Sonar providing anaccurate range measurement(b-c) Lateral resolution is not veryprecise; the closest object in thebeam’s cone provides the response(d) Specular reflectionscause walls to disappear(e) Open corners produce aweak spherical wavefront(f) Closed corners measure to thecorner itself because of multiplereflections --> sonar ray tracing16-735, Howie Choset with slides from G.D. Hager and Z. Doddsresolution: time / space
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