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 a priori 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 a priori for path planning, can also be used in simulators that study vehicle-terrain interaction. Furthermore, we show our 3D models possessing the required accuracy even for crack detection towards road surface inspection in airfields and highways.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multi-sensor integration for unmanned terrain modeling


    Contributors:
    Sukumar, S.R. (author) / Yu, Sijie (author) / Page, D.L. (author) / Koschan, A.F. (author) / Abidi, M.A. (author)


    Publication date :

    2006


    Size :

    10 Seiten, 17 Quellen





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Multi-terrain unmanned crawler transport vehicle

    NIU SANKU / LU PENGFEI / ZHOU ZHAOZHONG et al. | European Patent Office | 2024

    Free access

    Multi-power-source all-terrain unmanned vehicle

    FENG WENMING / CUI HUAGANG / LI HONG et al. | European Patent Office | 2023

    Free access

    Multi-axle unmanned all-terrain vehicle frame

    YANG YONG / YUAN LEI / PANG BO et al. | European Patent Office | 2025

    Free access

    AMPHIBIAN UNMANNED AERIAL VEHICLE FOR MULTI-TERRAIN APPLICATIONS

    KRISHNAMURTHY JAYAKAR / MYOOR KANDHADAI PADMANABHAN / MOHAMED SAFIULLAH PARVEZ ALAM et al. | European Patent Office | 2019

    Free access

    Agricultural unmanned aerial vehicle suitable for multi-terrain landing

    HONG YIQIAN / HONG SIQI / ZHENG WENZHONG et al. | European Patent Office | 2022

    Free access