Cart (Loading....) | Create Account
Close category search window

Modeling and classification of rough surfaces using CTFM sonar imaging

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Politis, Z. ; Dept. of Eng. Sci., Oxford Univ., UK ; Probert, P.J.

The typical use of ultrasonic sensors has been limited to estimation of the location of targets in a robot workspace. CTFM sonars have also been used successfully in classifying primitive targets. In this paper the classification is extended to include textures typical of these found in pathways the robot may need to follow or identify. The pathway classes examined are considered to be plane surfaces of various roughness corresponding to hard smooth floor, carpet, and asphalt. Each class is modeled using an extension of the Kirchhoff approximation method describing the scattering of the acoustic wave on rough surfaces. The CTFM sonar image corresponding to each class is derived and compared with the experimental one. Then a feature is extracted that exploits the differences between the three surface models. A neural network is trained for recognition with excellent results

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:


Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.