Kızılberisi algılayıcılardan elde edilen sinyallerle yüzey özelliklerinden bağımsız uzaklık kestirimi

ABSTRACTIMPROVED RANGE ESTIMATION USING SIMPLEINFRARED SENSORS WITHOUT PRIORKNOWLEDGE OF SURFACE CHARACTERISTICSR. Cagr Yuzbas ogluM.S. in Electrical and Electronics EngineeringSupervisor: Prof. Dr. Billur BarshanSeptember 2004This thesis describes a new method for range estimation using low-cost in-frared sensors. The intensity data acquired with infrared sensors depends highlyon the surface properties and the con guration of the sensors with respect to thesurface. Therefore, in many related studies, either the properties of the surfaceare determined rst or certain assumptions about the surface are made in orderto estimate the distance and the orientation of the surface relative to the sen-sors. We propose a novel method for position estimation of surfaces with infraredsensors without the need to determine the surface properties rst. The methodis relatively independent of the type of surface encountered since it is based onsearching the maximum value of the intensity rather than using absolute intensityvalues for a given surface which would depend on the surface type. The method isveri ed experimentally with planar surfaces of di erent surface properties. An in-telligent feature of our system is that its operating range is made adaptive basedon the intensity of the detected signal. Three di erent ways of processing theintensity signals are considered for range estimation. The overall absolute meanerror in the range estimates has been calculated as 0.15 cm in the range from10 to 50 cm. The cases where the azimuth and elevation angles are nonzero areconsidered as well. The results obtained demonstrate that infrared sensors can beused for localization to an unexpectedly high accuracy without prior knowledgeof the surface characteristics.Keywords: infrared sensors, Phong illumination model, range estimation, surfacelocalization, optical sensing.iii