Recognition using wavelets for use with a mobile robot explorer

Lynne L. Grewe; Jader Filho; Yutaka Kanayama

doi:10.1117/12.304913

26 March 1998 Recognition using wavelets for use with a mobile robot explorer

Lynne L. Grewe, Jader Filho, Yutaka Kanayama

Proceedings Volume 3391, Wavelet Applications V; (1998) https://doi.org/10.1117/12.304913
Event: Aerospace/Defense Sensing and Controls, 1998, Orlando, FL, United States

Abstract

In this paper, we describe a wavelet-based vision system created to detect unexploded ordnances (UXOs). This system was created to test whether or not a vision system could be a useful component on a mobile robot platform whose purpose is the exploration of possibly unknown environments for the detection of UXOs. As a first phase, we describe here, the extraction of relatively simple features in the wavelet domain. We capitalize upon the fact that the wavelet domain is multiresolutional in nature, and compactly represents local frequency information in the feature extraction phase. These features are used in a neural network system for the purpose of recognition. Results show that these features perform well for localization, but, suggest additional features are needed for identification. This work compliments other ongoing research in UXO detection at the Naval PostGraduate School. In the past, magnetometer readings have been used for underground UXO detection. A possible avenue of future research is to create a multi- sensor system using visual, magnetometer and possibly other data to arrive at better decisions.

Citation Download Citation

Lynne L. Grewe, Jader Filho, and Yutaka Kanayama "Recognition using wavelets for use with a mobile robot explorer", Proc. SPIE 3391, Wavelet Applications V, (26 March 1998); https://doi.org/10.1117/12.304913

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KEYWORDS

Wavelets

Unexploded object detection

Feature extraction

Databases

Neural networks

Magnetometers

Mobile robots

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