Robot assisted analysis of suspicious objects in public spaces using CBRN sensors in combination with high-resolution LIDAR

Aneta Czetina, Michael Hofstätter, Stephan Schraml (Speaker), Michael Hubner, Philipp Sulzer, Dieter Rothbacher, Rinaldo Wurglitsch, Ernst Riedl, Michael Sonntag, Stefan Moser, Julian Fey

Research output: Chapter in Book or Conference ProceedingsConference Proceedings with Oral Presentationpeer-review

Abstract

This paper presents our approach for a remotely operated robot-based system to perform analysis tasks of suspicious objects such as luggage, trash cans, and similar items with regards to potential terroristic attacks using C(B)R(N)E (chemical, biological, radioactive, nuclear and explosive) substances in public spaces. To reduce the exposure risk for security forces, an existing robot-based system was equipped with a range of sensors including a high-resolution 3D-RGB scanner, gamma and chemical sensors, additional cameras, and positioning sensors. A flexible and modular sensor framework has been designed and implemented that supports efficient integration of multiple sensors of different kinds. The sensor framework is easily extendable and independent of the sensors, so that new components can be integrated with little effort. Data of all sensors is securely transferred to a base processing unit for fusion and processing. A high-resolution 3D model of the surroundings is enriched by the acquired data of all sensors and visualized to improve the situational awareness during mission operation by better perception of the remote situation.
Original languageEnglish
Title of host publication2019 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2019)
Pages256-262
Number of pages7
ISBN (Electronic)978-1-7281-0778-3
DOIs
Publication statusPublished - 2019
EventSsrr2019 - Ieee International Symposium On Safety, Security And Rescue Robotics -
Duration: 2 Sept 20194 Sept 2019

Conference

ConferenceSsrr2019 - Ieee International Symposium On Safety, Security And Rescue Robotics
Period2/09/194/09/19

Research Field

  • Former Research Field - New Sensor Technologies

Keywords

  • Robot sensing system
  • CBRN
  • LiDAR
  • Mobile robot
  • Sensor fusion
  • Radiological sensor
  • Chemical sensor

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