Estimating Depth of Buried Metallic Objects

This paper presents a new method to estimate depth of buried metallic objects. The method relies on performing measurements at different heights above the soil with a conventional metal detector, and then using the ratio of the measurements together with the change in height in a non-linear equation derived from the coil's response model to estimate depth. To validate the method a metal detector mounted on a robotic arm is used, and the effectiveness of the method is shown using different tvpes of objects buried in soil at various depths.