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      • Faculty of Engineering
      • Department of Electrical and Electronics Engineering
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      Morphological surface profile extraction from multiple sonars

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      Author
      Başkent, Deniz
      Barshan, Billur
      Date
      1998
      Source 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 Paper
      Item Usage Stats
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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
      Algorithms
      Computer simulation
      Crosstalk
      Feature extraction
      Intelligent robots
      Morphology
      Sensor data fusion
      Signal filtering and prediction
      Sonar
      Spurious signal noise
      Surface profiling
      Mobile robots
      Permalink
      http://hdl.handle.net/11693/27662
      Published Version (Please cite this version)
      https://doi.org/10.1109/IROS.1998.724813
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      • Department of Electrical and Electronics Engineering 3601
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