Morphological surface profile extraction from multiple sonars
Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE 1998
1515 - 1520
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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.
Sensor data fusion
Signal filtering and prediction
Spurious signal noise