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

Report No. ARL-TR-3916
Authors: Gary A. Haas
Date/Pages: September 2006; 27 pages
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 to the UGV at which detections occur.
Distribution: Approved for public release
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Last Update / Reviewed: September 1, 2006