Location and curvature estimation of spherical targets using multiple sonar time-of-flight measurements

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dc.citation.epage1223en_US
dc.citation.issueNumber6en_US
dc.citation.spage1212en_US
dc.citation.volumeNumber48en_US
dc.contributor.authorBarshan, B.en_US
dc.date.accessioned2016-02-08T10:39:24Z
dc.date.available2016-02-08T10:39:24Z
dc.date.issued1999-12en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstractA 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.en_US
dc.identifier.doi10.1109/19.816139en_US
dc.identifier.issn0018-9456
dc.identifier.urihttp://hdl.handle.net/11693/25117
dc.language.isoEnglishen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/19.816139en_US
dc.source.titleIEEE Transactions on Instrumentation and Measurementen_US
dc.subjectAcoustic holographyen_US
dc.subjectAcoustic imagingen_US
dc.subjectCylinders (shapes)en_US
dc.subjectData acquisitionen_US
dc.subjectDistance measurementen_US
dc.subjectMaximum likelihood estimationen_US
dc.subjectMeasurement errorsen_US
dc.subjectMobile robotsen_US
dc.subjectNatural frequenciesen_US
dc.subjectParameter estimationen_US
dc.subjectSensitivity analysisen_US
dc.subjectCurvature estimationen_US
dc.subjectIntelligent sensorsen_US
dc.subjectRobot sensing systemsen_US
dc.subjectSonar position measurementen_US
dc.subjectTime of flight measurementsen_US
dc.subjectSonaren_US
dc.titleLocation and curvature estimation of spherical targets using multiple sonar time-of-flight measurementsen_US
dc.typeArticleen_US

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