Share Email Print
cover

Proceedings Paper

Active surface/subsurface perception for autonomous excavation
Format Member Price Non-Member Price
PDF $17.00 $21.00

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);
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)

© SPIE. Terms of Use
Back to Top
PREMIUM CONTENT
Sign in to read the full article
Create a free SPIE account to get access to
premium articles and original research
Forgot your username?
close_icon_gray