“…Other research groups are actively developing algorithms for the automatic interpretation of sensor data (Leonard & Durrant-Whyte, 1992;Crowley, 1985;Dror et al, 1995;Jeon & Kim, 2001). Our goal is to bring to bear a high level knowledge of the physics of sonar backscattering and then to apply sophisticated discrimination methods of the type long established in other fields (Rosenfeld & Kak, 1982;Theodoridis & Koutroumbas, 1998;Tou, 1968). In section 2 we describe an algorithm to distinguish big trees, little trees and round metal poles based on the degree of asymmetry in the backscatter as the sonar beam is swept across them.…”