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A physical model-based analysis of heterogeneous environments using sonar-ENDURA method

机译:基于声纳-ENDURA方法的基于物理模型的异构环境分析

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摘要

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.
机译:使用声纳作为传感设备,对非结构化环境进行了基于物理模型的分析。先前的方法仅依靠飞行时间(TOF)方法,并且仅检查由光滑或粗糙表面组成的同质环境。在本文中,基于基尔霍夫近似方法,提出了从具有不同粗糙度的一类表面反射的正向模型。该模型将不同类型的环境集成到单个分析框架中。回波强度是根据其能量含量和持续时间进行参数化的,该能量含量和持续时间是表面粗糙度,距离和方向的函数。引入了回声能量图和回声持续时间图以显示这些参数。提出了一种系统而鲁棒的程序(ENDURA方法)来分析反射并区分和定位反射表面。该方法已在我们实验室获得的实验结果得到验证。结果表明,与传统的TOF系统相比,它具有显着的改进。

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