Single sensor sonar map-building based on physical principles of reflection

Conventional time-of-flight (TOF) systems generate sonar maps based on the range estimate obtained from the TOF measurement. This paper describes a novel characterization of sonar reflections from a single sensor based on the physical principles of reflection and scattering from surfaces. Considerable improvement over conventional TOF systems is achieved. Different types of environments are integrated into a single framework. A new parametrization is developed based on the energy content and duration of the echo. These parameters are functions of the surface roughness and orientation. Echo-energy and echo-duration maps are generated that allow the identification of smooth, moderately rough and rough surfaces.