2 September 2004 Registering multisensor datasets from a robotic inspection platform
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Abstract
In this paper we present a new method for the registration of multiple sensors applied to a mobile robotic inspection platform. Our main technical challenge is automating the integration process for various multimodal inputs, such as depth maps, and multi-spectral images. This task is approached through a unified framework based on a new registration criterion that can be employed for both 3D and 2D datasets. The system embedding this technology reconstructs 3D models of scenes and objects that are inspected by an autonomous platform in high security areas. The models are processed and rendered with corresponding multi-spectral textures, which greatly enhances both human and machine identification of threat objects.
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Faysal Boughorbel, Andreas F. Koschan, Mongi A. Abidi, "Registering multisensor datasets from a robotic inspection platform", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); doi: 10.1117/12.542802; https://doi.org/10.1117/12.542802
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