Three-Dimensional Change Detection With the Use of an Evidence Grid

Abstract

In this study, the objective is to find changes in terrain geometry, which are encountered by a patrolling unmanned ground vehicle (UGV) from one patrol run to another. The UGV is equipped with a streaming imaging ladar (laser radar) that measures the distance to the nearest surface at an array of points spanning a prism-shaped field of view and with a navigation system that measures the location of the UGV in a world-fixed coordinate frame. The path followed by the UGV is approximately the same during each run. We are interested in the ability to detect true changes, to reject false alarms, and the range relative tothe UGV at which detections occur.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2006
Accession Number
ADA454838

Entities

People

  • Gary A. Haas

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Change Detection
  • Computer Graphics
  • Coordinate Systems
  • Data Sets
  • Detection
  • Detectors
  • Grids
  • Ground Vehicles
  • Image Processing
  • Laser Radar
  • Lasers
  • Navigation
  • Target Recognition
  • Three Dimensional
  • Two Dimensional
  • Unmanned Ground Vehicles
  • Vehicles

Readers

  • Regression Analysis.
  • Sensor Fusion and Tracking Systems.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy
  • Directed Energy