Location and curvature estimation of “spherical” targets using a flexible sonar configuration

Author

Barshan, Billur

Author_Institution

Dept. of Electr. Eng., Bilkent Univ., Ankara, Turkey

Volume

2

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1218

Abstract

A novel, flexible, three-dimensional (3-D) multisensor sonar system is employed to localize the center of a spherical target and estimate its radius of curvature. The interesting limiting cases for the problem under study are the point and planar targets, both of which are important for the characterization of a mobile robot´s environment. A noise model is developed based on real sonar data. An extended Kalman filter (EKF) which incorporates the developed noise model is employed as an estimation tool for optimal processing of the sensor data. Simulations and experimental results are provided for specularly reflecting cylindrical targets

Keywords

Kalman filters; mobile robots; sonar target recognition; curvature estimation; extended Kalman filter; flexible sonar configuration; flexible three-dimensional multisensor sonar system; mobile robot environment characterisation; noise model; planar target; point targets; specularly reflecting cylindrical targets; spherical targets location; Geometry; Mobile robots; Robot sensing systems; Sensor phenomena and characterization; Sonar; Target recognition; Target tracking; Transducers; Underwater tracking; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506873

Filename

506873