Morphological surface profile extraction from multiple sonars
Author
Başkent, Deniz
Barshan, Billur
Date
1998Source Title
Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE 1998
Publisher
IEEE
Pages
1515 - 1520
Language
English
Type
Conference PaperItem Usage Stats
172
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110
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Abstract
This 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 algorithm is verified both by simulations 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.
Keywords
AlgorithmsComputer simulation
Crosstalk
Feature extraction
Intelligent robots
Morphology
Sensor data fusion
Signal filtering and prediction
Sonar
Spurious signal noise
Surface profiling
Mobile robots