Başkent, DenizBarshan, Billur2016-02-082016-02-081998http://hdl.handle.net/11693/27662Date of Conference: 13-17 October 1998Conference Name: 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE 1998This 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.EnglishAlgorithmsComputer simulationCrosstalkFeature extractionIntelligent robotsMorphologySensor data fusionSignal filtering and predictionSonarSpurious signal noiseSurface profilingMobile robotsConference Paper10.1109/IROS.1998.724813