• About
  • Policies
  • What is openaccess
  • Library
  • Contact
Advanced search
      View Item 
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Electrical and Electronics Engineering
      • View Item
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Electrical and Electronics Engineering
      • View Item
      JavaScript is disabled for your browser. Some features of this site may not work without it.

      Location and curvature estimation of "spherical" targets using a flexible sonar configuration

      Thumbnail
      View / Download
      581.6 Kb
      Author
      Barshan, Billur
      Date
      1996
      Source Title
      Proceedings of the International Conference on Robotics and Automation, IEEE 1996
      Print ISSN
      1050-4729
      Publisher
      IEEE
      Pages
      1218 - 1223
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
      161
      views
      116
      downloads
      Abstract
      A novel, flexible, three-dimensional (3-D) multi-sensor sonar system is employed to localize the center of a spherical target and estimate its radius of curvature. The interesting limiting cases for the problem under study are the point and planar targets, both of which are important for the characterization of a mobile robot's environment. A noise model is developed based on real sonar data. An extended Kalman filter (EKF) which incorporates the developed noise model is employed as an estimation tool for optimal processing of the sensor data. Simulations and experimental results are provided for specularly reflecting cylindrical targets.
      Keywords
      Computer simulation
      Data processing
      Kalman filtering
      Mathematical models
      Mobile robots
      Parameter estimation
      Sonar
      Spurious signal noise
      Three dimensional
      Curvature estimation
      Multisensor sonar system
      Noise model
      Spherical targets
      Sensor data fusion
      Permalink
      http://hdl.handle.net/11693/27754
      Published Version (Please cite this version)
      http://doi.org/10.1109/ROBOT.1996.506873
      Collections
      • Department of Electrical and Electronics Engineering 3597
      Show full item record

      Browse

      All of BUIRCommunities & CollectionsTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartmentsThis CollectionTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartments

      My Account

      Login

      Statistics

      View Usage StatisticsView Google Analytics Statistics

      Bilkent University

      If you have trouble accessing this page and need to request an alternate format, contact the site administrator. Phone: (312) 290 1771
      Copyright © Bilkent University - Library IT

      Contact Us | Send Feedback | Off-Campus Access | Admin | Privacy