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SAFER Vehicle Inspection: A Multimodal Robotic Sensing David L. Page,a Yohan Fougerolle,a,b Andreas F. Koschan,a Andrei Gribok,a Mongi A. Abidi,a

Summary: SAFER Vehicle Inspection: A Multimodal Robotic Sensing
David L. Page,a Yohan Fougerolle,a,b Andreas F. Koschan,a Andrei Gribok,a Mongi A. Abidi,a
David J. Gorsich,c and Grant R. Gerhartc
aImaging, Robotics, and Intelligent Systems Laboratory, The University of Tennessee,
Knoxville, TN, USA 37996-2100;
bLE2i-CNRS Universit´e de Bourgogne, 12 rue de la fonderie, 71200 Le Creusot, France;
cU. S. Army RDECOM Tank-Automotive Research, Development and Engineering Center,
Warren, MI, USA 48397-5000
The current threats to U.S. security both military and civilian have led to an increased interest in the development
of technologies to safeguard national facilities such as military bases, federal buildings, nuclear power plants, and
national laboratories. As a result, the Imaging, Robotics, and Intelligent Systems (IRIS) Laboratory at The
University of Tennessee (UT) has established a research consortium, known as SAFER (Security Automation
and Future Electromotive Robotics), to develop, test, and deploy sensing and imaging systems for unmanned
ground vehicles (UGV). The targeted missions for these UGV systems include--but are not limited to--under
vehicle threat assessment, stand-off check-point inspections, scout surveillance, intruder detection, obstacle-
breach situations, and render-safe scenarios. This paper presents a general overview of the SAFER project.
Beyond this general overview, we further focus on a specific problem where we collect 3D range scans of under
vehicle carriages. These scans require appropriate segmentation and representation algorithms to facilitate the


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


Collections: Computer Technologies and Information Sciences