Localization of small objects with electric sense based on kalman filter

Electric fish feel the perturbations of a self-generated electric field through their electro-receptive skin. This sense allows them to navigate and reconstruct their environment in conditions where vision and sonar cannot work. In this article, we use a sensor bio-inspired from this active sense to address the problem of small objects reconstruction and electrolocation. Based on a Kalman filter, any small object in the surrounding of the motion controlled sensor can be encapsulated into an equivalent sphere whose location is well estimated by the filter. Experimental results illustrate the feasibility of the approach.