Characterization of Surfaces with Sonars Using Time of Flight and Triangulation

摘要

This paper presents a simple and original method that uses a configuration of only two sonars to measure and characterize surfaces. The method uses simultaneously the Time Of Flight (TOF) technique and basic triangulation, and characterizes the obtained sonar data into corners, edges and planes, along with non-classified points. The characterization is based on a simple trigonometric evaluation. A commutation system with two sonars that use a configuration with a transmitter and two receivers was built to verify the proposed methodology. Experiments and satisfactory results are also presented.