Registering multisensor datasets from a robotic inspection platform

Faysal Boughorbel; Andreas F. Koschan; Mongi A. Abidi

doi:10.1117/12.542802

2 September 2004 Registering multisensor datasets from a robotic inspection platform

Faysal Boughorbel, Andreas F. Koschan, Mongi A. Abidi

Proceedings Volume 5422, Unmanned Ground Vehicle Technology VI; (2004) https://doi.org/10.1117/12.542802
Event: Defense and Security, 2004, Orlando, Florida, United States

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.

Citation Download Citation

Faysal Boughorbel, Andreas F. Koschan, and Mongi A. Abidi "Registering multisensor datasets from a robotic inspection platform", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); https://doi.org/10.1117/12.542802

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KEYWORDS

Image registration

3D modeling

Inspection

Robotics

Sensors

Visualization

3D image processing

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