Physical Sciences and Mathematics Commons^™

Classification Of Non-Heat Generating Outdoor Objects In Thermal Scenes For Autonomous Robots, William L. Fehlman

Dissertations, Theses, and Masters Projects

We have designed and implemented a physics-based adaptive Bayesian pattern classification model that uses a passive thermal infrared imaging system to automatically characterize non-heat generating objects in unstructured outdoor environments for mobile robots. In the context of this research, non-heat generating objects are defined as objects that are not a source for their own emission of thermal energy, and so exclude people, animals, vehicles, etc. The resulting classification model complements an autonomous bot's situational awareness by providing the ability to classify smaller structures commonly found in the immediate operational environment. Since GPS depends on the availability of satellites and onboard …