Abstract
A new statistical model for the scattering of acoustic signals from rough surfaces is presented. It has been developed to support texture measurements from walls and other structural surfaces using air-borne sonar. The rough surface is divided into a number of elementary surfaces, each with random orientation and positioning around the mean for the whole surface. Each elementary surface is modeled using an extension of the Kirchhoff approximation method for a monochromatic wave source [see O. Bozma and R. Kuc, J Acoust. Soc. Am. 89, 2519–2531 (1991)]. Whereas previous work has accounted only for the envelope of the overall energy received at different angles, from a rough surface, the new model accounts for the nonuniformity in the energy pattern. The model is applied to describe the signal received by a KASPA frequency-modulated sensor, a sensor developed originally as a mobility aid for the blind [see L. Kay, Electronic Spatial Sensing for the Blind (Martinus Nijhoff, Boston, 1985), pp. 125–139]. It has been validated with data from different textured surfaces on buildings in Oxford. In the paper we will discuss its use in classifying surfaces to assist navigation and for inspection.
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