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Summary: Surface Shape Description of 3D Data from
Under Vehicle Inspection Robot
Sreenivas R. Sukumar1
, David L. Page1
, Andrei V. Gribok1
, Andreas F. Koschan1
,
Mongi A. Abidi1
, David J. Gorsich2
and Grant R. Gerhart2
1
Imaging, Robotics, and Intelligent Systems Laboratory, The University of Tennessee
Knoxville, TN, USA 37996-2100;
2
U. S. Army RDECOM Tank-Automotive Research, Development and Engineering Center,
Waren, MI, USA 48397-5000
ABSTRACT
Our research efforts focus on the deployment of 3D sensing capabilities to a multi-modal under vehicle inspection
robot. In this paper, we outline the various design challenges towards the automation of the 3D scene modeling task. We
employ laser-based range imaging techniques to extract the geometry of a vehicle's undercarriage and present our
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