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A Vision System for an Unmanned, Non-lethal Weapon

机译:无人非致命武器的视觉系统

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摘要

Unmanned weapons remove humans from deadly situations. However some systems, such as unmanned guns, are difficult to control remotely. It is difficult for a soldier to perform the complex tasks of identifying and aiming at specific points on targets from a remote location. This paper describes a computer vision and control system for providing autonomous control of unmanned guns developed at Space and Naval Warfare Systems Center, San Diego (SSC San Diego). The test platform, consisting of a non-lethal gun mounted on a pan-tilt mechanism, can be used as an unattended device or mounted on a robot for mobility. The system operates with a degree of autonomy determined by a remote user that ranges from teleoperated to fully autonomous. The teleoperated mode consists of remote joystick control over all aspects of the weapon, including aiming, arming, and firing. Visual feedback is provided by near-real-time video feeds from bore-site and wide-angle cameras. The semi-autonomous mode provides the user with tracking information overlayed over the real-time video. This provides the user with information on all detected targets being tracked by the vision system. The user uses a mouse to select a target, and the gun automatically aims the gun at the target. Arming and firing is still performed by teleoperation. In fully autonomous mode, all aspects of gun control are performed by the vision system.
机译:无人武器使人类摆脱了致命的局面。但是,某些系统,例如无人枪,很难进行远程控制。对于士兵而言,很难执行从远程位置识别并瞄准目标上特定点的复杂任务。本文介绍了一种计算机视觉和控制系统,该系统可对圣地亚哥的太空与海军作战系统中心(SSC圣地亚哥)开发的无人机进行自主控制。该测试平台由安装在旋转云台机构上的非致命枪组成,可以用作无人值守设备,也可以安装在机器人上以实现机动性。该系统以远程用户确定的自治程度运行,该自治程度从远程操作到完全自治。遥控模式包括对武器各个方面的远程操纵杆控制,包括瞄准,装备和射击。视觉反馈是通过钻孔现场和广角摄像机的近实时视频信号提供的。半自主模式为用户提供了覆盖在实时视频上的跟踪信息。这为用户提供了有关视觉系统正在跟踪的所有检测到的目标的信息。用户使用鼠标选择目标,并且枪支自动将枪支对准目标。仍然可以通过遥控操作进行布防和射击。在全自动模式下,枪支控制的各个方面均由视觉系统执行。

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