Title :
A sonar sensor for accurate 3D target localisation and classification
Author :
Akbarally, Huzefa ; Kleeman, Lindsay
Author_Institution :
Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
Abstract :
This paper presents a novel sonar sensor consisting of three transmitters and three receivers that can localise and classify 3D targets into 16 different naturally occurring indoor classes. The sensor produces submillimeter range and sub-degree bearing accuracies using an optimal matched filter time of flight estimator up to a range of 6 meters. The sensor configuration, hardware and processing are described. Experimental results from the sensor are presented
Keywords :
acoustic filters; image classification; mobile robots; navigation; sonar imaging; sonar target recognition; ultrasonic transducers; 3D target localisation; mobile robots; navigation; optimal matched filter; receivers; sonar sensor; sub-degree bearing; submillimeter range; target classification; time of flight estimator; transmitters; Intelligent robots; Intelligent sensors; Matched filters; Pulse measurements; Robot sensing systems; Robustness; Sensor fusion; Sensor phenomena and characterization; Sonar measurements; Transmitters;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525710
