Morphological surface profile extraction from multiple sonars

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dc.citation.epage1520en_US
dc.citation.spage1515en_US
dc.contributor.authorBaşkent, Denizen_US
dc.contributor.authorBarshan, Billuren_US
dc.coverage.spatialVictoria, BC, Canadaen_US
dc.date.accessioned2016-02-08T11:59:00Zen_US
dc.date.available2016-02-08T11:59:00Zen_US
dc.date.issued1998en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionDate of Conference: 13-17 October 1998en_US
dc.descriptionConference Name: 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE 1998en_US
dc.description.abstractThis paper presents a novel method for surface profile determination using multiple sensors. Our approach is based on morphological processing techniques to fuse the range data from multiple sensor returns in a manner that directly reveals the target surface profile. The method has the intrinsic ability of suppressing spurious readings due to noise, crosstalk, and higher-order reflections, as well as processing multiple reflections informatively. The algorithm is verified both by simulations and experiments in the laboratory by processing real sonar data obtained from a mobile robot. The results are compared to those obtained from a more accurate structured-light system, which is however more complex and expensive.en_US
dc.description.provenanceMade available in DSpace on 2016-02-08T11:59:00Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 70227 bytes, checksum: 26e812c6f5156f83f0e77b261a471b5a (MD5) Previous issue date: 1998en
dc.identifier.doi10.1109/IROS.1998.724813en_US
dc.identifier.urihttp://hdl.handle.net/11693/27662
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttps://doi.org/10.1109/IROS.1998.724813en_US
dc.source.titleProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE 1998en_US
dc.subjectAlgorithmsen_US
dc.subjectComputer simulationen_US
dc.subjectCrosstalken_US
dc.subjectFeature extractionen_US
dc.subjectIntelligent robotsen_US
dc.subjectMorphologyen_US
dc.subjectSensor data fusionen_US
dc.subjectSignal filtering and predictionen_US
dc.subjectSonaren_US
dc.subjectSpurious signal noiseen_US
dc.subjectSurface profilingen_US
dc.subjectMobile robotsen_US
dc.titleMorphological surface profile extraction from multiple sonarsen_US
dc.typeConference Paperen_US

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