Naslov
Towards Autonomous Landmine Detection Using Mobile Robots and Metal Detectors: A Case Study

Autori
Ambruš Davorin ; Vasić, Darko ; Bilas, Vedran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), stručni

Izvornik
Proceedings of the 12th International Symposium "Mine Action 2015" / Dražen Jakopec - Zagreb : Hrvatski centar za razminiranje - Centar za testiranje, razvoj i obuku (HCR-CTRO), 2015, 197-200

Skup
12th International Symposium "Mine Action 2015"

Mjesto i datum
Biograd na Moru, Hrvatska, 27.04.2015. - 30.04.2015

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
metal detection; mobile robots; target characterization

Sažetak
Automated landmine detection using robots as mobile scanning platforms is an emerging application field and as such presents an important effort towards safer and more efficient humanitarian demining. In this paper, we present a target classification concept that was developed and tested as a case study within the framework of the Humanitarian Robotics and Automation Technology Challenge event (HRATC 2014). We first briefly introduce the HRATC event and describe its competition rules, objectives and the main features of the mobile platform used in the experiments. Next, we present the process of developing a robust model-based algorithm for classifying metallic targets based on their shape. The algorithm was experimentally evaluated on a dataset collected from a test site containing surrogate mines (metallic spheres) and clutter targets. Initial results indicate that the algorithm correctly resolves the target shape from a limited amount of sensor data.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA