Barshan, B.2019-01-312019-01-311999-12-090013-5194http://hdl.handle.net/11693/48618A novel spatial voting scheme is described for surface profile determination based on multiple ultrasonic range measurements. The approach is extremely robust, flexible and straightforward. It can deal with arbitrary numbers and sensor configurations, with the intrinsic ability to suppress spurious readings, crosstalk, and higher-order reflections, and process multiple reflections informatively.Englishultrasonic measurementultrasonic surface profile determinationspatial votingmultiple ultrasonic range measurementshigher-order reflectionscrosstalkArticle10.1049/el:19991477