Characterization of Surfaces with Sonars Using Time of Flight and Triangulation

  • Carlos Albores
  • José Luis Gordillo
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2905)


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.


Mobile Robot Real Environment Autonomous Vehicle Virtual Image Convex Corner 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Carlos Albores
    • 1
  • José Luis Gordillo
    • 1
  1. 1.Intelligent Systems CenterMonterreyMéxico

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