VUIR: A Vehicle Undercarriage Inspection Robot

  • Robert Ross
  • John Devlin
  • Anthony de Souza-Daw
Part of the Studies in Computational Intelligence book series (SCI, volume 480)


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.


Mobile Robot Template Match Mosaic Image Path Planning Algorithm Wide Angle Camera 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Robert Ross
    • 1
  • John Devlin
    • 1
  • Anthony de Souza-Daw
    • 2
  1. 1.Department of Electronic EngineeringLa Trobe UniversityVictoriaAustralia
  2. 2.Centre for TechnologyRMIT International UniversityHo Chi Minh CityVietnam

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