Abstract: A method for determining surface characteristics is disclosed. The method may include transmitting a surface penetrating radar (SPR) signal towards a surface from a SPR system. The method may also include receiving a response signal at the SPR system. The response signal may include, at least in part, a reflection of the SPR signal from a surface region associated with the surface. The method may further include measuring at least one of an intensity and a phase of the response signal. The method my additionally include determining, based at least in part on the at least one of the intensity and the phase of the response signal, a surface characteristic of the surface.

Abstract: A method for determining surface characteristics is disclosed. The method may include transmitting a surface penetrating radar (SPR) signal towards a surface from a SPR system. The method may also include receiving a response signal at the SPR system. The response signal may include, at least in part, a reflection of the SPR signal from a surface region associated with the surface. The method may further include measuring at least one of an intensity and a phase of the response signal. The method my additionally include determining, based at least in part on the at least one of the intensity and the phase of the response signal, a surface characteristic of the surface.

Abstract: A method for determining surface characteristics is disclosed. The method may include transmitting a surface penetrating radar (SPR) signal towards a surface from a SPR system. The method may also include receiving a response signal at the SPR system. The response signal may include, at least in part, a reflection of the SPR signal from a surface region associated with the surface. The method may further include measuring at least one of an intensity and a phase of the response signal. The method my additionally include determining, based at least in part on the at least one of the intensity and the phase of the response signal, a surface characteristic of the surface.

Abstract: A method and a surface penetrating radar (SPR) system for localization of a vehicle are disclosed. The method includes transmitting a radar signal having a first frequency into a subsurface region adjacent to a vehicle. A first set of SPR images of a first subsurface volume within the subsurface region is acquired and location data for the vehicle are determined from the first set of SPR images. A second radar signal having a frequency that is greater than the first frequency is transmitted into the subsurface region and a second set of SPR images of a second subsurface volume within the subsurface region is acquired. The second subsurface volume at least partially overlaps the first subsurface volume. Location data are determined from the second set of SPR images at a greater resolution than the location data determined from the first set of SPR images.

Abstract: A method for extending a surface penetrating radar (SPR) footprint for performing localization with an SPR system is disclosed. The method may include may include transmitting at least one SPR signal from at least one SPR transmit element. The method may further include receiving a response signal via at least two SPR receive elements, the response signal including, at least in part, a reflection of the SPR signal from an object. The method may also include determining that the object is in a region of interest outside a footprint of the SPR system based on a difference in phase at which the response signal is received at the at least two SPR receive elements. The method may additionally include performing localization of a vehicle using the SPR system based at least in part on the object.

Abstract: A method for extending a surface penetrating radar (SPR) footprint for performing localization with an SPR system is disclosed. The method may include may include transmitting at least one SPR signal from at least one SPR transmit element. The method may further include receiving a response signal via at least two SPR receive elements, the response signal including, at least in part, a reflection of the SPR signal from an object. The method may also include determining that the object is in a region of interest outside a footprint of the SPR system based on a difference in phase at which the response signal is received at the at least two SPR receive elements. The method may additionally include performing localization of a vehicle using the SPR system based at least in part on the object.

Abstract: A method and a surface penetrating radar (SPR) system for localization of a vehicle are disclosed. The method includes transmitting a radar signal having a first frequency into a subsurface region adjacent to a vehicle. A first set of SPR images of a first subsurface volume within the subsurface region is acquired and location data for the vehicle are determined from the first set of SPR images. A second radar signal having a frequency that is greater than the first frequency is transmitted into the subsurface region and a second set of SPR images of a second subsurface volume within the subsurface region is acquired. The second subsurface volume at least partially overlaps the first subsurface volume. Location data are determined from the second set of SPR images at a greater resolution than the location data determined from the first set of SPR images.

Abstract: A method for determining surface characteristics is disclosed. The method may include transmitting a surface penetrating radar (SPR) signal towards a surface from a SPR system. The method may also include receiving a response signal at the SPR system. The response signal may include, at least in part, a reflection of the SPR signal from a surface region associated with the surface. The method may further include measuring at least one of an intensity and a phase of the response signal. The method my additionally include determining, based at least in part on the at least one of the intensity and the phase of the response signal, a surface characteristic of the surface.

Abstract: Described are a method and system for detecting and locating changes in an underground region. Changes are detected using a mobile coherent change detection ground penetrating radar (GPR). The GPR system is located on a mobile platform that makes two more measurement passes over the same route to acquire GPR images of an underground region at different times. A lateral offset between the GPR images for the two different times is determined and applied to one of the GPR images to generate a GPR shifted image that is spatially aligned with the other GPR image using a correlation process or other technique. A GPR difference image is generated from the GPR shifted image and the other GPR image. The GPR difference image includes data representative of changes to the underground region that occurred between the two measurement passes.

Abstract: Described are a method and a system for localization of a vehicle. The method includes the acquisition of SPR images of a subsurface region along a vehicle track. Acquired SPR images are compared to SPR images previously acquired for a subsurface region that at least partially overlaps the subsurface region along the vehicle track. In some embodiments, the comparison includes an image correlation procedure. Location data for the vehicle are determined based in part on location data for the SPR images previously acquired for the second subsurface region. Location data can be used to guide the vehicle along a desired path. The relatively static nature of features in the subsurface region provides the method with advantages over other sensor-based navigation systems that may be adversely affected by weather conditions, dynamic features and time-varying illumination. The method can be used in a variety of applications, including self-driving automobiles and autonomous platforms.

Abstract: Described are a method and system for detecting and locating changes in an underground region. Changes are detected using a mobile coherent change detection ground penetrating radar (GPR). The GPR system is located on a mobile platform that makes two more measurement passes over the same route to acquire GPR images of an underground region at different times. A lateral offset between the GPR images for the two different times is determined and applied to one of the GPR images to generate a GPR shifted image that is spatially aligned with the other GPR image using a correlation process or other technique. A GPR difference image is generated from the GPR shifted image and the other GPR image. The GPR difference image includes data representative of changes to the underground region that occurred between the two measurement passes.

Abstract: Described are a method and a system for localization of a vehicle. The method includes the acquisition of SPR images of a subsurface region along a vehicle track. Acquired SPR images are compared to SPR images previously acquired for a subsurface region that at least partially overlaps the subsurface region along the vehicle track. In some embodiments, the comparison includes an image correlation procedure. Location data for the vehicle are determined based in part on location data for the SPR images previously acquired for the second subsurface region. Location data can be used to guide the vehicle along a desired path. The relatively static nature of features in the subsurface region provides the method with advantages over other sensor-based navigation systems that may be adversely affected by weather conditions, dynamic features and time-varying illumination. The method can be used in a variety of applications, including self-driving automobiles and autonomous platforms.

Abstract: Described are a method and system for detecting and locating changes in an underground region. Changes are detected using a mobile coherent change detection ground penetrating radar (GPR). The GPR system is located on a mobile platform that makes two more measurement passes over the same route to acquire GPR images of an underground region at different times. A lateral offset between the GPR images for the two different times is determined and applied to one of the GPR images to generate a GPR shifted image that is spatially aligned with the other GPR image using a correlation process or other technique. A GPR difference image is generated from the GPR shifted image and the other GPR image. The GPR difference image includes data representative of changes to the underground region that occurred between the two measurement passes.