Ground tracking using Microsoft Kinect sensor for ground-penetrating radar

Ground penetrating radar (GPR) systems have been successfully developed and deployed for buried object detection in real-world environments. Currently, the detection algorithms using GPR assume a flat earth model and incoming data is manipulated so the air ground interface conforms to this requirement. This manipulation of data occasionally results in missed detections and false alarms. Knowing the exact location of the air-ground interface could be used to relax the flat earth assumption and alleviate some of the associated detection problems. This paper describes a method of using the Microsoft Kinect sensor to track the ground for use in the buried object detection algorithms.