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Registering Multi-sensor Datasets from a Robotic Inspection Platform Faysal Boughorbel*

Summary: Registering Multi-sensor Datasets from a Robotic Inspection Platform
Faysal Boughorbel*
, Andreas Koschan, and Mongi Abidi
Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer
Engineering, 409 Ferris Hall, The University of Tennessee, Knoxville, TN, 37996, United States
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.
Keywords: 3D Registration, Matching Criterion, Multi-modal Datasets, Mobile Platforms, Inspection and Surveillance.
Recently, the use of mobile robotic platforms for the surveillance of high-security facilities has attracted significant
attention. Such platforms are commonly equipped with multiple imaging devices and for the most part are remotely
controlled by human operators. To achieve further autonomy for these systems and facilitate the process of interpreting
the sensory input and deciding appropriate action, the robots need to acquire a certain level of intelligence, including the
ability for reconstructing a more complete representation of the scenes that are navigated and of the objects that are


Source: Abidi, Mongi A. - Department of Electrical and Computer Engineering, University of Tennessee


Collections: Computer Technologies and Information Sciences