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

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dc.citation.epage1223en_US
dc.citation.spage1218en_US
dc.contributor.authorBarshan, Billuren_US
dc.coverage.spatialMinneapolis, MN, USAen_US
dc.date.accessioned2016-02-08T12:00:59Z
dc.date.available2016-02-08T12:00:59Z
dc.date.issued1996en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionDate of Conference: 22-28 April 1996en_US
dc.descriptionConference Name: International Conference on Robotics and Automation, IEEE 1996en_US
dc.description.abstractA 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.en_US
dc.description.provenanceMade available in DSpace on 2016-02-08T12:00:59Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 70227 bytes, checksum: 26e812c6f5156f83f0e77b261a471b5a (MD5) Previous issue date: 1996en
dc.identifier.doi10.1109/ROBOT.1996.506873en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/11693/27754
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttp://doi.org/10.1109/ROBOT.1996.506873en_US
dc.source.titleProceedings of the International Conference on Robotics and Automation, IEEE 1996en_US
dc.subjectComputer simulationen_US
dc.subjectData processingen_US
dc.subjectKalman filteringen_US
dc.subjectMathematical modelsen_US
dc.subjectMobile robotsen_US
dc.subjectParameter estimationen_US
dc.subjectSonaren_US
dc.subjectSpurious signal noiseen_US
dc.subjectThree dimensionalen_US
dc.subjectCurvature estimationen_US
dc.subjectMultisensor sonar systemen_US
dc.subjectNoise modelen_US
dc.subjectSpherical targetsen_US
dc.subjectSensor data fusionen_US
dc.titleLocation and curvature estimation of "spherical" targets using a flexible sonar configurationen_US
dc.typeConference Paperen_US

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