Robotic three-dimensional imaging system for under-vehicle inspection

Sreenivas Rangan Sukumar; David L. Page; Andrei V. Gribok; Andreas F. Koschan; Mongi A. Abidi; David J. Gorsich; Grant R. Gerhart

doi:10.1117/1.2238565

1 July 2006 Robotic three-dimensional imaging system for under-vehicle inspection

Sreenivas Rangan Sukumar, David L. Page, Andrei V. Gribok, Andreas F. Koschan, Mongi A. Abidi, David J. Gorsich, Grant R. Gerhart

Author Affiliations +

Journal of Electronic Imaging, Vol. 15, Issue 3, 033008 (July 2006). https://doi.org/10.1117/1.2238565

Abstract

We present our research efforts toward the deployment of 3-D sensing technology to an under-vehicle inspection robot. The 3-D sensing modality provides flexibility with ambient lighting and illumination in addition to the ease of visualization, mobility, and increased confidence toward inspection. We leverage laser-based range-imaging techniques to reconstruct the scene of interest and address various design challenges in the scene modeling pipeline. On these 3-D mesh models, we propose a curvature-based surface feature toward the interpretation of the reconstructed 3-D geometry. The curvature variation measure (CVM) that we define as the entropic measure of curvature quantifies surface complexity indicative of the information present in the surface. We are able to segment the digitized mesh models into smooth patches and represent the automotive scene as a graph network of patches. The CVM at the nodes of the graph describes the surface patch. We demonstrate the descriptiveness of the CVM on manufacturer CAD and laser-scanned models.

©(2006) Society of Photo-Optical Instrumentation Engineers (SPIE)

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Sreenivas Rangan Sukumar, David L. Page, Andrei V. Gribok, Andreas F. Koschan, Mongi A. Abidi, David J. Gorsich, and Grant R. Gerhart "Robotic three-dimensional imaging system for under-vehicle inspection," Journal of Electronic Imaging 15(3), 033008 (1 July 2006). https://doi.org/10.1117/1.2238565

Published: 1 July 2006

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