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Proceedings Paper

Active surface/subsurface perception for autonomous excavation
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Paper Abstract

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.

Paper Details

Date Published: 22 June 1994
PDF: 14 pages
Proc. SPIE 2233, Sensor Fusion and Aerospace Applications II, (22 June 1994); doi: 10.1117/12.179035
Show Author Affiliations
Herman Herman, Carnegie Mellon Univ. (United States)
Anthony Stentz, Carnegie Mellon Univ. (United States)

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

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