A sonar sensor for accurate 3D target localisation and classification

Author

Akbarally, Huzefa ; Kleeman, Lindsay

Author_Institution

Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia

Volume

3

fYear

1995

fDate

21-27 May 1995

Firstpage

3003

Abstract

This paper presents a novel sonar sensor consisting of three transmitters and three receivers that can localise and classify 3D targets into 16 different naturally occurring indoor classes. The sensor produces submillimeter range and sub-degree bearing accuracies using an optimal matched filter time of flight estimator up to a range of 6 meters. The sensor configuration, hardware and processing are described. Experimental results from the sensor are presented

Keywords

acoustic filters; image classification; mobile robots; navigation; sonar imaging; sonar target recognition; ultrasonic transducers; 3D target localisation; mobile robots; navigation; optimal matched filter; receivers; sonar sensor; sub-degree bearing; submillimeter range; target classification; time of flight estimator; transmitters; Intelligent robots; Intelligent sensors; Matched filters; Pulse measurements; Robot sensing systems; Robustness; Sensor fusion; Sensor phenomena and characterization; Sonar measurements; Transmitters;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525710

Filename

525710