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

Date
1996
Advisor
Instructor
Source Title
Proceedings of the International Conference on Robotics and Automation, IEEE 1996
Print ISSN
1050-4729
Electronic ISSN
Publisher
IEEE
Volume
Issue
Pages
1218 - 1223
Language
English
Type
Conference Paper
Journal Title
Journal ISSN
Volume Title
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.

Course
Other identifiers
Book Title
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
Citation
Published Version (Please cite this version)