Active surface/subsurface perception for autonomous excavation

Herman Herman; Anthony Stentz

doi:10.1117/12.179035

22 June 1994 Active surface/subsurface perception for autonomous excavation

Herman Herman, Anthony Stentz

Proceedings Volume 2233, Sensor Fusion and Aerospace Applications II; (1994) https://doi.org/10.1117/12.179035
Event: SPIE's International Symposium on Optical Engineering and Photonics in Aerospace Sensing, 1994, Orlando, FL, United States

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.

Citation Download Citation

Herman Herman and Anthony Stentz "Active surface/subsurface perception for autonomous excavation", Proc. SPIE 2233, Sensor Fusion and Aerospace Applications II, (22 June 1994); https://doi.org/10.1117/12.179035

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