A Unified Analysis of Structured Sonar-terrain Data using Bayesian Functional Mixed Models.

ABSTRACT: Sonar emits pulses of sound and uses the reflected echoes to gain information about target objects. It offers a low cost, complementary sensing modality for small robotic platforms. While existing analytical approaches often assume independence across echoes, real sonar data can have more complicated structures due to device setup or experimental design. In this paper, we consider sonar echo data collected from multiple terrain substrates with a dual-channel sonar head. Our goals are to identify the differential sonar responses to terrains and study the effectiveness of this dual-channel design in discriminating targets. We describe a unified analytical framework that achieves these goals rigorously, simultaneously, and automatically. The analysis was done by treating the echo envelope sig

SUBMITTER: Zhu H 

PROVIDER: S-EPMC5939587 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature