4 September 1998 Visual ordnance recognition for clearing test ranges
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We describe a method for recognizing surface-lying ordnance in test ranges using stereo range information and image edge maps. This method is to be used by an unmanned ground vehicle (UGV) surveying the test range for autonomous clearing of ordnance. We concentrate on a particular type of cylindrical ordnance (BLU-97) in current usage in U.S. military test ranges. In order to locate instances of the ordnance, we employ a stereo pair of cameras to be mounted on top of a UGV. Parallel segments corresponding to the occluding contours of the ordnance are detected in the imagery using robust and efficient model extraction techniques. The stereo range data is used to adaptively select the local scale for edge detection and to place constraints on the search space for the parallel segment extraction. Initial tests indicate that robust recognition is possible in near real-time with a low rate of false positives.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Clark F. Olson, Clark F. Olson, Larry Henry Matthies, Larry Henry Matthies, } "Visual ordnance recognition for clearing test ranges", Proc. SPIE 3392, Detection and Remediation Technologies for Mines and Minelike Targets III, (4 September 1998); doi: 10.1117/12.324184; https://doi.org/10.1117/12.324184

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