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Multi-sensor Integration for Unmanned Terrain Modeling Sreenivas R. Sukumar*

Summary: Multi-sensor Integration for Unmanned Terrain Modeling
Sreenivas R. Sukumar*
, Sijie Yu, David L. Page, Andreas F. Koschan, Mongi A. Abidi
Imaging, Robotics, and Intelligent Systems Laboratory,
Department of Electrical and Computer Engineering,
The University of Tennessee, Knoxville, TN, USA 37996-2100
State-of-the-art unmanned ground vehicles are capable of understanding and adapting to arbitrary road terrain for
navigation. The robotic mobility platforms mounted with sensors detect and report security concerns for subsequent
action. Often, the information based on the localization of the unmanned vehicle is not sufficient for deploying army
resources. In such a scenario, a three dimensional (3D) map of the area that the ground vehicle has surveyed in its
trajectory would provide apriori spatial knowledge for directing resources in an efficient manner. To that end, we
propose a mobile, modular imaging system that incorporates multi-modal sensors for mapping unstructured arbitrary
terrain. Our proposed system leverages 3D laser-range sensors, video cameras, global positioning systems (GPS) and
inertial measurement units (IMU) towards the generation of photo-realistic, geometrically accurate, geo-referenced 3D
terrain models. Based on the summary of the state-of-the-art systems, we address the need and hence several challenges
in the real-time deployment, integration and visualization of data from multiple sensors. We document design issues
concerning each of these sensors and present a simple temporal alignment method to integrate multi-sensor data into
textured 3D models. These 3D models, in addition to serving as apriori for path planning, can also be used in
simulators that study vehicle-terrain interaction. Furthermore, we show our 3D models possessing the required accuracy


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


Collections: Computer Technologies and Information Sciences