An edge-preserving stabilization for a fast 3-D imaging algorithm with a UWB pulse radar

摘要

It is hoped that rescue robots help human lives in the near future. Recently, UWB(Ultra Wide Band) has been standardized in the USA, and it enables us to develop pulse radars with high range resolution. This technology is a promising candidate for the environment measurement for robots. Radar imaging is known as one of ill-posed inverse problems, for which various algorithms have been proposed. Most of them were developed for continuously distributed media such as the ground. Their calculation time is too long because they are based on iterative methods, which is not acceptable for the realtime operation of robots. On the other hand, most of in-house objects have clear boundaries, which enables us to simplify the models. We have already proposed a fast imaging algorithm SEABED for UWB pulse radars, which is based on a reversible transform by utilizing this simple model. The performance of the SEABED algorithms has been investigated only with numerical simulations. In this paper, we experimentally study the performance of the algorithm with a UWB pulse radar experiment system.