Abstract
This chapter describes a mobile robot system used to image vehicle undercarriages. The system uses a visual processing technique to identify and parameterise tyres as fiduciary points, from which pose estimation can be performed. Following this, a path planning algorithm is used to navigate the mobile robot underneath the target vehicle whilst imaging the undercarriage using a wide-angle catadioptric camera. The images of the undercarriage are re-projected and template matched with a odometry-controlled dynamic region of interest to generate a mosaic view of the vehicle undercarriage. The mosaic images are visually evaluated, with the inclusion of simulation improvised explosive devices (IEDs), and the proposed system is shown to be significantly more versatile and safer for operators compared to alternate methods of undercarriage inspection.
Based on “Catadioptric Vehicle Undercarriage Imaging with Visual Path Planning”, by Robert Ross, John Devlin and Anthony de Souza-Daw, which appeared in the Proceedings of the 5th International Conference on Automation, Robotics And Applications (ICARA 2011) © IEEE.
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Ross, R., Devlin, J., de Souza-Daw, A. (2013). VUIR: A Vehicle Undercarriage Inspection Robot. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_14
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DOI: https://doi.org/10.1007/978-3-642-37387-9_14
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