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Title
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An optimized spatial sampling strategy for wide-view planar array 3D sonar sensors
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Author
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Abstract
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| Array-based imaging sonar sensors often have the advantage that the sampling directions in which sensor data is processed can be arbitrarily chosen. The associated computational cost of the imaging algorithm scales linearly with the number of sampled directions, though, which may limit the use of such sensors for real-time applications such as robotics. This is especially true in case of wide-field sensors, which generally require a larger number of sampled directions (e.g. to cover the full frontal hemisphere). For this reason, it is necessary to optimize the set of sampling directions and reduce its number to a minimum. In this paper we propose a spatial sampling strategy for array based sonar sensors, which takes into account the point-spread function of the array sensor to obtain such a minimal set. We apply this strategy to optimize the set of sampling directions for a specific planar array sonar sensor, and compare the efficiency of the resulting sampling grid to two commonly used sampling strategies. |
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Language
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English
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Source (journal)
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IEEE transactions on ultrasonics, ferroelectrics and frequency control / Institute of Electrical and Electronics Engineers. - New York
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Publication
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New York
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2020
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ISSN
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0885-3010
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DOI
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10.1109/TUFFC.2020.2964991
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Volume/pages
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67
:6
(2020)
, p. 1236-1241
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ISI
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000538144900015
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Pubmed ID
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31944952
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Full text (Publisher's DOI)
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Full text (open access)
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Full text (publisher's version - intranet only)
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