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Recent Advances in Robotics and Automation pp 183–192Cite as

VUIR: A Vehicle Undercarriage Inspection Robot

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Part of the book series: Studies in Computational Intelligence ((SCI,volume 480))

Abstract

This chapter describes a mobile robot system used to image vehicle undercarriages. The system uses a visual processing technique to identify and parameterise tyres as fiduciary points, from which pose estimation can be performed. Following this, a path planning algorithm is used to navigate the mobile robot underneath the target vehicle whilst imaging the undercarriage using a wide-angle catadioptric camera. The images of the undercarriage are re-projected and template matched with a odometry-controlled dynamic region of interest to generate a mosaic view of the vehicle undercarriage. The mosaic images are visually evaluated, with the inclusion of simulation improvised explosive devices (IEDs), and the proposed system is shown to be significantly more versatile and safer for operators compared to alternate methods of undercarriage inspection.

Based on “Catadioptric Vehicle Undercarriage Imaging with Visual Path Planning”, by Robert Ross, John Devlin and Anthony de Souza-Daw, which appeared in the Proceedings of the 5th International Conference on Automation, Robotics And Applications (ICARA 2011) © IEEE.

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Author information

Authors and Affiliations

  1. Department of Electronic Engineering, La Trobe University, Victoria, 3086, Australia

    Robert Ross & John Devlin

  2. Centre for Technology, RMIT International University, Ho Chi Minh City, Vietnam

    Anthony de Souza-Daw

Authors
  1. Robert Ross
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  2. John Devlin
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  3. Anthony de Souza-Daw
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Corresponding author

Correspondence to Robert Ross .

Editor information

Editors and Affiliations

  1. School of Engineering &, Advanced Technology (SEAT), Massey University, Private Bag 11 222, Palmerston North, 4442, New Zealand

    Gourab Sen Gupta

  2. , School of Engineering and Advanced Techn, Massey University, Private Bag 11 222, Palmerston North, 4442, New Zealand

    Donald Bailey

  3. , Saigon South Campus, RMIT International University, Nguyen Van Linh City 702, Ho Chi Minh City, 70000, Vietnam

    Serge Demidenko

  4. , School of Engineering and Computer Scien, Victoria University of Wellington, Wellington, 6140, New Zealand

    Dale Carnegie

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Ross, R., Devlin, J., de Souza-Daw, A. (2013). VUIR: A Vehicle Undercarriage Inspection Robot. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_14

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  • DOI: https://doi.org/10.1007/978-3-642-37387-9_14

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-37386-2

  • Online ISBN: 978-3-642-37387-9

  • eBook Packages: EngineeringEngineering (R0)

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