Visual Navigation For Autonomous System For Detection And Neutralisation Of Non-Metal Mines

An idea of autonomous mobile platform for land mines detection and destruction is introduced. A visual navigation system with a simple pattern matching algorithm was proposed. A CCD camera is the system main sensor for image acquisition. A Scene Matching Area Correlation (SMAC) method based on a cross correlation technique is implemented for image processing. The system was tested both in off-line simulations and on-board of a land vehicle. The efficiency of the signal processing algorithm during the field tests confirmed efficiency of the methods developed for determination of vehicle position and velocity. A visual navigation system based on simple image processing techniques may be applied on board mobile vehicles in an autonomous way or as a component of integrated navigation system.