Flat Surface Reconstruction Using Sonar

A technique is given for the recovery of planar surfaces using two beam-spread sonar readings. If a single, planar surface gave rise to the two readings, then the method recovers the surface quite accurately. Simulation and experiment demonstrate the effectiveness of the technique and recommend its use in practice. IThis work was supported in part by the Advanced Research Projects agency under Army Research Office grants number DAAH04-93-G-0420 and by NSF grant CDA 9024721. Flat Surface Reconstruction Using Sonar Thomas C. Henderson, Mohamed Dekhil, Beat Brtiderlin, Larry Schenkat and Larkin Veigel Department of Computer Science University of Utah Salt Lake City, Utah 84112, USA Abstract A technique is given for the recovery of planar surfaces using two beam-spread sonar readings. If a single, planar surface gave rise to the two readings, then the method recovers the surface quite accurately. Simulation and experiment demonstrate the effectiveness of the technique and recommend its use in practice.A technique is given for the recovery of planar surfaces using two beam-spread sonar readings. If a single, planar surface gave rise to the two readings, then the method recovers the surface quite accurately. Simulation and experiment demonstrate the effectiveness of the technique and recommend its use in practice.