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Proceedings Paper

A vision system for an unmanned nonlethal weapon
Author(s): Greg Kogut; Larry Drymon
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Paper Abstract

Unmanned weapons remove humans from deadly situations. However some systems, such as unmanned guns, are difficult to control remotely. It is difficult for a soldier to perform the complex tasks of identifying and aiming at specific points on targets from a remote location. This paper describes a computer vision and control system for providing autonomous control of unmanned guns developed at Space and Naval Warfare Systems Center, San Diego (SSC San Diego). The test platform, consisting of a non-lethal gun mounted on a pan-tilt mechanism, can be used as an unattended device or mounted on a robot for mobility. The system operates with a degree of autonomy determined by a remote user that ranges from teleoperated to fully autonomous. The teleoperated mode consists of remote joystick control over all aspects of the weapon, including aiming, arming, and firing. Visual feedback is provided by near-real-time video feeds from bore-site and wide-angle cameras. The semi-autonomous mode provides the user with tracking information overlayed over the real-time video. This provides the user with information on all detected targets being tracked by the vision system. The user uses a mouse to select a target, and the gun automatically aims the gun at the target. Arming and firing is still performed by teleoperation. In fully autonomous mode, all aspects of gun control are performed by the vision system.

Paper Details

Date Published: 25 October 2004
PDF: 8 pages
Proc. SPIE 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision, (25 October 2004); doi: 10.1117/12.571501
Show Author Affiliations
Greg Kogut, Space and Naval Warfare Systems Ctr. (United States)
Larry Drymon, Space and Naval Warfare Systems Ctr. (United States)


Published in SPIE Proceedings Vol. 5608:
Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Roning, Editor(s)

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