Target differentiation and localization using infrared sensors

Date
2003-08
Advisor
Instructor
Source Title
Proceedings of SPIE - The International Society for Optical Engineering
Print ISSN
0277-786X
Electronic ISSN
Publisher
SPIE
Volume
Issue
Pages
889 - 890
Language
English
Type
Conference Paper
Journal Title
Journal ISSN
Volume Title
Abstract

We discuss the use of low-cost infrared sensors in differentiating and localizing commonly encountered target primitives in indoor environments, such as planes, corners, edges, and cylinders. Single intensity readings are highly dependent on target location and properties and this dependence cannot be represented simply. We propose a method that can achieve position-invariant target differentiation without relying on absolute intensity readings and verify it experimentally. The correct identification rates for planes, 90° corners and edges, and cylinders are 90%, 100%, 82.5%, and 92.5%, respectively. The distance of the target can be estimated with an average error of 0.59 cm and the azimuth angle can be estimated with an error of 1.58°.

Course
Other identifiers
Book Title
Keywords
Algorithms, Differentiation (calculus), Error analysis, Information analysis, Infrared radiation, Mobile robots, Scanning, Targets, Indoor environments, Infrared sensors, Intensity returns, Target differentiation, Sensors
Citation
Published Version (Please cite this version)