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dc.contributor.authorBaşkent, D.en_US
dc.contributor.authorBarshan, B.en_US
dc.date.accessioned2016-02-08T10:41:11Z
dc.date.available2016-02-08T10:41:11Z
dc.date.issued1999-08en_US
dc.identifier.issn0278-3649
dc.identifier.urihttp://hdl.handle.net/11693/25224
dc.description.abstractThis paper presents a novel method for surface profile determination using multiple sensors. Our approach is based on morphological processing techniques to fuse the range data from multiple sensor returns in a manner that directly reveals the target surface profile. The method has the intrinsic ability of suppressing spurious readings due to noise, crosstalk, and higher-order reflections, as well as processing multiple reflections informatively. The approach taken is extremely flexible and robust, in addition to being simple and straightforward. It can deal with arbitrary numbers and configurations of sensors as well as synthetic arrays. The algorithm is verified both by simulating and experiments in the laboratory by processing real sonar data obtained from a mobile robot. The results are compared to those obtained from a more accurate structured-light system, which is, however, more complex and expensive.en_US
dc.language.isoEnglishen_US
dc.source.titleInternational Journal of Robotics Researchen_US
dc.relation.isversionofhttps://doi.org/10.1177/02783649922066565en_US
dc.subjectAlgorithmsen_US
dc.subjectCollision avoidanceen_US
dc.subjectComputer simulationen_US
dc.subjectData processingen_US
dc.subjectFeature extractionen_US
dc.subjectMathematical morphologyen_US
dc.subjectMobile robotsen_US
dc.subjectPattern recognitionen_US
dc.subjectSensorsen_US
dc.subjectMap buildingen_US
dc.subjectMorphological processingen_US
dc.subjectSonar sensingen_US
dc.subjectSurface profile extractionen_US
dc.subjectSonaren_US
dc.titleSurface profile determination from multiple sonar data using morphological processingen_US
dc.typeArticleen_US
dc.departmentDepartment of Electrical and Electronics Engineering
dc.citation.spage788en_US
dc.citation.epage808en_US
dc.citation.volumeNumber18en_US
dc.citation.issueNumber8en_US
dc.identifier.doi10.1177/02783649922066565en_US
dc.publisherSage Publications Ltd.en_US


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