A physical model-based analysis of heterogeneous environments usingsonar-ENDURA method
Bozma, O.
Kuc, R.
Dept. of Electr. Eng., Yale Univ., New Haven, CT ;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: May 1994
Volume: 16,
Issue: 5
On page(s): 497-506
ISSN: 0162-8828
References Cited: 18
CODEN: ITPIDJ
INSPEC Accession Number: 4713246
Digital Object Identifier: 10.1109/34.291448
Current Version Published: 2002-08-06
Abstract
A physical model-based analysis of unstructured environments is
presented using sonar as a sensing device. Previous methods have relied
only on time-of-flight (TOF) methods and have examined only homogenous
environments consisting of either smooth or rough surfaces. In this
paper, a forward model for the reflection from a class of surfaces with
varying degrees of roughness is presented based on the Kirchhoff
approximation method. This model integrates different types of
environments into a single analytical framework. The echo intensity is
parametrized in terms of its energy content and duration, which are
functions of the surface roughness, distance, and orientation. The
echo-energy and echo-duration maps are introduced to display these
parameters. A systematic and robust procedure (ENDURA method) is
presented to analyze the reflections and to differentiate and localize
the reflecting surfaces. The methodology is verified with experimental
results obtained in our laboratory. The results indicate a significant
improvement over conventional TOF systems
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