Paper Info
Title
Surface Profile Determination From Multiple Sonar Data Using Morphological Processing
Abstract
This 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 approach taken is extremely flexible and robust, in addition to being simple and straightforward. It can deal with arbitrary numbers and configurations of sensors as well as synthetic arrays. 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.
Year
DOI
Venue
1999
10.1177/02783649922066565
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Keywords
Field
DocType
sonar sensing, range sensing, morphological processing, mathematical morphology, surface-profile extraction, map building, pattern recognition, mobile robots
Computer vision,Mathematical morphology,Crosstalk,Morphological processing,Sonar,Artificial intelligence,Fuse (electrical),Multiple sensors,Spurious relationship,Mathematics,Mobile robot
Journal
Volume
Issue
ISSN
18
8
0278-3649
Citations 
PageRank 
References 
14
0.79
23
Authors
2
Name
Order
Citations
PageRank
Deniz Baskent1181.54
Billur Barshan231327.83