Location and curvature estimation of "spherical" targets using a flexible sonar configuration

@inproceedings{Barshan1996LocationAC,
  title={Location and curvature estimation of "spherical" targets using a flexible sonar configuration},
  author={Billur Barshan},
  booktitle={ICRA},
  year={1996}
}
A novel, flexible, three-dimensional (3-D) multisensor sonar system is employed t o localize the center of a spherical target and estimate its radizls of curvature. The interesting limiting cases for the problem under study are the point and planar targets, both of which are important for the characterization of a mobile robot’s environment. A noise model is deve loped based on real sonar data. An extended Kalman filter (EUF) which incorporates the developed noise model is employed as an… CONTINUE READING