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JRM Vol.26 No.1 pp. 59-67
doi: 10.20965/jrm.2014.p0059
(2014)

Paper:

Inside Vehicle Inspection System Utilizing a Mobile Robot with LRF Sensor

Sanngoen Wanayuth, Akihisa Ohya, and Takashi Tsubouchi

Intelligent Robot Laboratory, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:
April 21, 2013
Accepted:
September 10, 2013
Published:
February 20, 2014
Keywords:
mobile robot, laser range finder, parking lot, vehicle detection, inside vehicle inspection
Abstract

Automated vehicle inspection is utilized to inspect vehicles in a parking lots. This paper presents an approach for inspecting vehicle inside through car windows to determine any changes since the last inspection using a Laser Range Finder (LRF) sensor. Features of the approach include the detection inside vehicles method, data alignment using an ICP algorithm, inside vehicle data comparison to find any differences since the last inspection. An item identification method has been used to obtain the average height and size of objects inside vehicles to identify such changes. Our approach was shown to successfully detect typical simple items, i.e., bags, notebook PCs, and wallets, used to test the proposed method. Experiments are conducted to demonstrate the efficiency of our approach for inspecting and recognizing objects inside vehicles.

Cite this article as:
S. Wanayuth, A. Ohya, and T. Tsubouchi, “Inside Vehicle Inspection System Utilizing a Mobile Robot with LRF Sensor,” J. Robot. Mechatron., Vol.26, No.1, pp. 59-67, 2014.
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