Using surface and subsurface sensing, we have developed a perception system for autonomous retrieval of buried objects. The subsurface sensing system uses Ground Penetrating Radar (GPR) to locate buried objects. A 2D laser rangefinder system generates an elevation map, and using this map a robotic arm positions the GPR antenna. This setup allows us to automate the GPR data collection. An image processing algorithm is used to locate the object of interest in the GPR data. After it is located, we use sense and dig cycle to retrieve the object.

Date Published: 22 June 1994
PDF: 14 pages
Proc. SPIE 2233, Sensor Fusion and Aerospace Applications II, (22 June 1994);

Published in SPIE Proceedings Vol. 2233:
Sensor Fusion and Aerospace Applications II
Nagaraj Nandhakumar, Editor(s)