An apparatus includes an extendable wand, and a sensor head coupled to the wand. The sensor head includes a continuous wave metal detector (CWMD) and a radar. When the wand is collapsed, the wand and the sensor head collapse to fill a volume that is smaller than a volume filled by the sensor head and the wand when the wand is extended. Frequency-domain data from a sensor configured to sense a region is accessed, the frequency-domain data is transformed to generate a time-domain representation of the region, a first model is determined based on the accessed frequency-domain data, a second model is determined based on the generated time-domain representation, the second model being associated with a particular region within the sensed region, and a background model that represents a background of the region is determined based on the first model and the second model.
1. A method comprising:
accessing frequency-domain data from a sensor configured to sense a region;
transforming the frequency-domain data to generate a time-domain representation of the region;
determining a first model based on the accessed frequency-domain data;
determining a second model based on the generated time-domain representation, the second model being associated with a particular region within the sensed region; and
determining a background model that represents a background of the region based on the first model and the second model.
2. The method of claim 1 , further comprising:
receiving additional frequency-domain data from the sensor after determining the background model;
comparing the additional frequency-domain data to the background model;
determining that the additional frequency-domain data represents a target based on the comparison; and
triggering an alarm based on the determination that the additional frequency-domain data represents a target.
3. The method of claim 1 , wherein accessing frequency-domain data from a sensor configured to sense a region comprises accessing the frequency-domain data from a ground penetrating radar configured to sense the region.
4. The method of claim 1 , further comprising determining whether the first model and the second model include outliers.
5. The method of claim 1 , wherein the first model comprises a ground coupling model that represents frequencies emphasized by operator motion, and the second model comprises a model that represents a surface of the ground and one or more target models, each target model associated with a particular depth beneath the surface.
6. The method of claim 1 , further comprising:
receiving additional frequency-domain data from the sensor after determining the background model;
determining whether the additional frequency-domain data is an outlier; and
re-computing the background model using the additional frequency-domain data if the additional frequency-domain data is an outlier.
7. A system comprising:
a sensor configured to sense a region at each of multiple frequencies;
a processor coupled to the sensor and an electronic storage, the electronic storage comprising instructions that, when executed, cause the processor to:
receive frequency-domain data from the sensor;
transform the frequency-domain data to generate a time-domain representation of the accessed frequency-domain data;
determine a first model based on the accessed frequency-domain data;
determine a second model based on the generated time-domain representation, the second model being associated with a particular region within the sensed region; and
determine a background model that represents a background of the region, based on the first model and the second model.
8. The system of claim 7 , wherein the sensor comprises a ground penetrating radar.
9. The system of claim 7 , wherein the sensor comprises a continuous wave metal detector (CWMD).
10. The system of claim 9 , wherein the sensor further comprises a ground penetrating radar.
11. The system of claim 10 , wherein the ground penetrating radar and the continuous wave metal detector are received in a single sensor head.
12. The system of claim 7 , wherein the sensor is mounted on a platform that is configured to be held and manually operated by a human operator.
13. The system of claim 11 , wherein the CWMD transmits and receives radiation at twenty-one or more different frequencies.