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Proceedings Paper

Rapid high-confidence intelligent interior mapping
Author(s): David Roberts; Dirk Warnaar; Alberico Menozzi; Soheil Saadat; Steve Snarski
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Paper Abstract

This paper presents preliminary results on an intelligent mapping capability that generates high-confidence layouts of building interiors from limited exterior and interior structural observables. Such a capability could provide critical support to intelligence gathering and/or life-saving operations in the military, law enforcement, disaster response, and commercial sectors where rapid understanding of unknown interior layouts is required to save lives, maintain covertness, or minimize costs. The fundamental approach relies on an intelligent rule-based inferencing process which operates on limited structural observables. The rules are based on geo-specific design practices and building codes. The mapping capability has been demonstrated experimentally in a test-case building structure using a set of imaging sensors to scan the environment. Data was gathered at sparse locations within the building to represent a real-world rapid exploration scenario. Preliminary results show that this capability can successfully generate high-confidence interior layouts from limited structural observables. It is envisioned that this intelligent mapping capability could be integrated on unmanned ground vehicle platforms or in human-borne (soldier, SWAT, urban search-and-rescue personnel) systems.

Paper Details

Date Published: 14 May 2007
PDF: 12 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 656102 (14 May 2007); doi: 10.1117/12.719693
Show Author Affiliations
David Roberts, Applied Research Associates (United States)
Dirk Warnaar, Applied Research Associates (United States)
Alberico Menozzi, Applied Research Associates (United States)
Soheil Saadat, Applied Research Associates (United States)
Steve Snarski, Applied Research Associates (United States)


Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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