Browsing by Subject "Surface localization"
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Item Open Access Improved range estimation using simple infrared sensors without prior knowledge of surface characteristics(Institute of Physics Publishing Ltd., 2005) Yüzbaşioglu, Ç.; Barshan, B.This paper describes a new method for position estimation of planar surfaces using simple, low-cost infrared sensors. The intensity data acquired with infrared sensors depend highly on the surface properties and the configuration of the sensors with respect to the surface. Therefore, in many related studies, either the properties of the surface are determined first or certain assumptions about the surface are made in order to estimate the distance and the orientation of the surface relative to the sensors. We propose a novel method for position estimation of surfaces with infrared sensors without the need to determine the surface properties first. The method is considered to be independent of the type of surface encountered since it is based on searching for the position of the maximum value of the intensity data rather than using absolute intensity values which would depend on the surface type. The method is verified experimentally with planar surfaces of different surface properties. An intelligent feature of our system is that its operating range is made adaptive based on the maximum intensity of the detected signal. Three different ways of processing the intensity signals are considered for range estimation. The absolute mean range error for the method resulting in the lowest errors is 0.15 cm over the range from 10 to 50 cm. The cases where the azimuth and elevation angles are nonzero are considered as well. The results obtained demonstrate that infrared sensors can be used for localization to an unexpectedly high accuracy without prior knowledge of the surface characteristics.Item Open Access A new method for range estimation using simple infrared sensors(IEEE, 2005-08) Yüzbaşıoǧlu, Çağrı; Barshan, BillurWe describe a new method for position estimation of planar surfaces using simple, low-cost infrared (IR) sensors. The intensity data acquired with IR sensors depends highly on the surface properties and the configuration of the sensors with respect to the surface. Therefore, in many related studies, either the properties of the surface are determined first or certain assumptions about the surface are made to estimate the distance and the orientation of the surface relative to the sensors. We propose a novel method for position estimation of surfaces with IR sensors without the need to determine the surface properties first. The method is considered to be independent of the type of surface encountered since it is based on searching the position of the maximum value of the intensity data rather than using absolute intensity values. The method is verified experimentally with planar surfaces of different surface properties. An intelligent feature of our system is that its operating range is made adaptive based on the maximum intensity of the detected signal. The absolute mean range error for the method resulting in the lowest errors is 0.15 cm over the range from 10 to 50 cm. The cases where the azimuth and elevation angles are nonzero are considered as well. The results obtained demonstrate that IR sensors can be used for localization to an unexpectedly high accuracy without prior knowledge of the surface characteristics. © 2005 IEEE.Item Open Access Simultaneous extraction of geometry and surface properties of targets using simple infrared sensors(SPIE, 2004) Aytaç, T.; Barshan, B.We investigate the use of low-cost infrared (IR) sensors for the simultaneous extraction of geometry and surface properties of commonly encountered features or targets in indoor environments, such as planes, corners, and edges. The intensity measurements obtained from such sensors are highly dependent on the location, geometry, and surface properties of the reflecting target in a way that cannot be represented by a simple analytical relationship, therefore complicating the localization and recognition process. We propose the use of angular intensity scans and present an algorithm to process them to determine the geometry and the surface type of the target and estimate its position. The method is verified experimentally with planes, 90-deg corners, and 90-deg edges covered with aluminum, white cloth, and Styrofoam packaging material. An average correct classification rate of 80% of both geometry and surface over all target types is achieved and targets are localized within absolute range and azimuth errors of 1.5 cm and 1.1 deg, respectively. Taken separately, the geometry and surface type of targets can be correctly classified with rates of 99 and 81%, respectively, which shows that the geometrical properties of the targets are more distinctive than their surface properties, and surface determination is the limiting factor. The method demonstrated shows that simple IR sensors, when coupled with appropriate processing, can be used to extract substantially more information than that for which such devices are commonly employed. © 2004 Society of Photo-Optical Instrumentation Engineers.