A “Brick”-architecture-based mobile under-vehicle inspection system

In this paper, a mobile scanning system for real-time under-vehicle inspection is presented, which is founded on a “Brick” architecture. In this “Brick” architecture, the inspection system is basically decomposed into bricks of three kinds: sensing, mobility, and computing. These bricks are physically and logically independent and communicate with each other by wireless communication. Each brick is mainly composed by five modules: data acquisition, data processing, data transmission, power, and self-management. These five modules can be further decomposed into submodules where the function and the interface are well-defined. Based on this architecture, the system is built by four bricks: two sensing bricks consisting of a range scanner and a line CCD, one mobility brick, and one computing brick. The sensing bricks capture geometric data and texture data of the under-vehicle scene, while the mobility brick provides positioning data along the motion path. Data of these three modalities are transmitted to the computing brick where they are fused and reconstruct a 3D under-vehicle model for visualization and danger inspection. This system has been successfully used in several military applications and proved to be an effective safer method for national security.