Location and curvature estimation of spherical targets using multiple sonar time-of-flight measurements
Author(s)
Date
1999-12Source 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
ArticleItem Usage Stats
205
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views
203
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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 holographyAcoustic 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/11693/25117Published Version (Please cite this version)
http://dx.doi.org/10.1109/19.816139Collections
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