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Intelligent 3D Sensing for Robotic Inspection of Hazardous Facilities Sreenivas Sukumar, David Page, Andrei Gribok, Andreas Koschan, Mongi Abidi
 

Summary: Intelligent 3D Sensing for Robotic Inspection of Hazardous Facilities
Sreenivas Sukumar, David Page, Andrei Gribok, Andreas Koschan, Mongi Abidi
The University of Tennessee
Imaging, Robotics and Intelligent Systems Lab.
Knoxville, TN 37996, USA
{ssrangan, dpage, agribok, akoschan, abidi}@utk.edu
INTRODUCTION
Robots serve many DOE applications for
inspection and surveillance in hard-to-reach hazardous
areas. Existing robotic systems have thus far used color
cameras for inspection along with laser range finders for
path planning and obstacle avoidance. The range finders
on the robot do provide us with sufficient information
about the scene that we propose to exploit towards threat
assessment.
DESCRIPTION OF THE ACTUAL WORK
We have deployed laser scanners on a robotic
platform to provide us with high fidelity 3D shape and
structure details about a particular scene of interest. In
addition to the increased confidence for manual

  

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

 

Collections: Computer Technologies and Information Sciences