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      • Department of Electrical and Electronics Engineering
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      Location and curvature estimation of spherical targets using multiple sonar time-of-flight measurements

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      Author(s)
      Barshan, B.
      Date
      1999-12
      Source Title
      IEEE Transactions on Instrumentation and Measurement
      Print ISSN
      0018-9456
      Publisher
      Institute of Electrical and Electronics Engineers
      Volume
      48
      Issue
      6
      Pages
      1212 - 1223
      Language
      English
      Type
      Article
      Item Usage Stats
      205
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      Abstract
      A novel, flexible, three-dimensional multisensor sonar system is described to localize the center of a generalized spherical target and estimate its radius of curvature. Point, line, and planar targets are included as limiting cases which are important for the characterization of a mobile robot's environment. Sensitivity analysis of the curvature estimate with respect to measurement errors and some of the system parameters is provided. The analysis is verified experimentally for specularly reflecting cylindrical and planar targets. Typical accuracies in range and azimuth are 0.17 mm and 0.1°, respectively. Accuracy of the curvature estimate depends on the target type and system parameters such as transducer separation and operating range.
      Keywords
      Acoustic holography
      Acoustic imaging
      Cylinders (shapes)
      Data acquisition
      Distance measurement
      Maximum likelihood estimation
      Measurement errors
      Mobile robots
      Natural frequencies
      Parameter estimation
      Sensitivity analysis
      Curvature estimation
      Intelligent sensors
      Robot sensing systems
      Sonar position measurement
      Time of flight measurements
      Sonar
      Permalink
      http://hdl.handle.net/11693/25117
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/19.816139
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      • Department of Electrical and Electronics Engineering 4011
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