Location and curvature estimation of spherical targets using multiple sonar time-of-flight measurements
Date
1999-12
Authors
Barshan, B.
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Source Title
IEEE Transactions on Instrumentation and Measurement
Print ISSN
0018-9456
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Publisher
Institute of Electrical and Electronics Engineers
Volume
48
Issue
6
Pages
1212 - 1223
Language
English
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Journal Title
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Abstract
A novel, flexible, three-dimensional multisensor sonar system is described to localize the center of a generalized spherical target and estimate its radius of curvature. Point, line, and planar targets are included as limiting cases which are important for the characterization of a mobile robot's environment. Sensitivity analysis of the curvature estimate with respect to measurement errors and some of the system parameters is provided. The analysis is verified experimentally for specularly reflecting cylindrical and planar targets. Typical accuracies in range and azimuth are 0.17 mm and 0.1°, respectively. Accuracy of the curvature estimate depends on the target type and system parameters such as transducer separation and operating range.
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Keywords
Acoustic holography , Acoustic imaging , Cylinders (shapes) , Data acquisition , Distance measurement , Maximum likelihood estimation , Measurement errors , Mobile robots , Natural frequencies , Parameter estimation , Sensitivity analysis , Curvature estimation , Intelligent sensors , Robot sensing systems , Sonar position measurement , Time of flight measurements , Sonar