Location and curvature estimation of "spherical" targets using a flexible sonar configuration
Author
Barshan, Billur
Date
1996Source 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 PaperItem Usage Stats
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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 simulationData 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