Summary: A "Brick"-architecture-based mobile under-vehicle inspection system
, David Page, Andreas Koschan, Mongi Abidi
Imaging, Robotics, and Intelligent Systems Laboratory
Department of Electrical & Computer Engineering
The University of Tennessee
Knoxville, TN 37996
In this paper, a mobile scanning system for real-time under-vehicle inspection is presented, which is founded on a
"Brick" architecture. In this "Brick" architecture, the inspection system is basically decomposed into bricks of three
kinds: sensing, mobility, and computing. These bricks are physically and logically independent and communicate with
each other by wireless communication. Each brick is mainly composed by five modules: data acquisition, data
processing, data transmission, power, and self-management. These five modules can be further decomposed into sub-
modules where the function and the interface are well-defined. Based on this architecture, the system is built by four
bricks: two sensing bricks consisting of a range scanner and a line CCD, one mobility brick, and one computing brick.
The sensing bricks capture geometric data and texture data of the under-vehicle scene, while the mobility brick provides
positioning data along the motion path. Data of these three modalities are transmitted to the computing brick where they
are fused and reconstruct a 3D under-vehicle model for visualization and danger inspection. This system has been
successfully used in several military applications and proved to be an effective safer method for national security.
Keywords: Modular architecture, multimodal data fusion, navigation planning.