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Proceedings Paper

Registering multisensor datasets from a robotic inspection platform
Author(s): Faysal Boughorbel; Andreas F. Koschan; Mongi A. Abidi
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Paper 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.

Paper Details

Date Published: 2 September 2004
PDF: 8 pages
Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); doi: 10.1117/12.542802
Show Author Affiliations
Faysal Boughorbel, Univ. of Tennessee/Knoxville (United States)
Andreas F. Koschan, Univ. of Tennessee/Knoxville (United States)
Mongi A. Abidi, Univ. of Tennessee/Knoxville (United States)


Published in SPIE Proceedings Vol. 5422:
Unmanned Ground Vehicle Technology VI
Grant R. Gerhart; Chuck M. Shoemaker; Douglas W. Gage, Editor(s)

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