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Proceedings Paper

Visual ordnance recognition for clearing test ranges
Author(s): Clark F. Olson; Larry Henry Matthies
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Paper Abstract

We describe a method for recognizing surface-lying ordnance in test ranges using stereo range information and image edge maps. This method is to be used by an unmanned ground vehicle (UGV) surveying the test range for autonomous clearing of ordnance. We concentrate on a particular type of cylindrical ordnance (BLU-97) in current usage in U.S. military test ranges. In order to locate instances of the ordnance, we employ a stereo pair of cameras to be mounted on top of a UGV. Parallel segments corresponding to the occluding contours of the ordnance are detected in the imagery using robust and efficient model extraction techniques. The stereo range data is used to adaptively select the local scale for edge detection and to place constraints on the search space for the parallel segment extraction. Initial tests indicate that robust recognition is possible in near real-time with a low rate of false positives.

Paper Details

Date Published: 4 September 1998
PDF: 12 pages
Proc. SPIE 3392, Detection and Remediation Technologies for Mines and Minelike Targets III, (4 September 1998); doi: 10.1117/12.324184
Show Author Affiliations
Clark F. Olson, Jet Propulsion Lab. (United States)
Larry Henry Matthies, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 3392:
Detection and Remediation Technologies for Mines and Minelike Targets III
Abinash C. Dubey; James F. Harvey; J. Thomas Broach, Editor(s)

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