Narrowband 3D tracking using a biomimetic sonarhead
Carmena, J.M.
Hallam, J.C.T.
Div. of Informatics, Edinburgh Univ.;
This paper appears in: Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Publication Date: 2002
Volume: 1,
On page(s): 172- 177 vol.1
ISBN: 0-7803-7398-7
INSPEC Accession Number: 7502316
Digital Object Identifier: 10.1109/IRDS.2002.1041384
Current Version Published: 2002-12-10
Abstract
This work presents a 3D tracking method that exploits both the physics of narrowband echolocation and the dynamics of the sensor, taking inspiration from narrowband (CF-FM) bats. The platform used in this work is RoBat, a biomimetic sonarhead mounted on a mobile platform. Two different techniques are integrated in the tracker. First, the Barshan and Kuc method (1992) for estimating target range and azimuth angle is adapted to the geometry of the sonarhead. Next, Walker's arc scanning hypothesis for target elevation estimation in CF-FM bats is implemented, applying curve fitting for an accurate estimation of the peak-delay. The integration of both techniques in a 3D tracking system is performed, applying both methods independently. A more sophisticated method which requires the geometric model to be revisited and a better time-of-flight estimation method, is also proposed.
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