Under-vehicle inspection utilizing a mobile robot with a LRF sensor

The under-vehicle inspection systems have led to an increased interest to develop the technologies for finding threats such as bomb, transmitter, and so on. In this paper, we presented the automated under-vehicle inspection in parking place utilizing a mobile robot. To obtain the underside of vehicle, laser range finder (LRF) is used to acquire data of object with directly measure under vehicle. Features of the approach include the method for under vehicle detection, pose estimation function, data alignment using iterative closest point (ICP algorithm), underside vehicle data comparison to find the differences between previously archived state and current state. Average height and detected size of the object were determined by item identification method. This strategy is presented to inspect and recognize underside of the vehicle change. Our approach has successfully shown to detect the object of under vehicle state changes. Experiments are conducted to demonstrate the efficiency of our approach to inspect and recognize objects under vehicles.