Evaluation of the ImmerVision IMV1-1/3NI Panomorph Lens on a Small Unmanned Ground Vehicle (SUGV).

摘要

Being able to perform reconnaissance, surveillance, and target acquisition using imagers with wide fields of regard in high resolution is essential for the Army in urban warfare. In this report, we examine the performance and usability of the latest Panomorph lens, IMV1, from ImmerVision on a small unmanned ground vehicle (SUGV). The evaluation is based on the execution of two vision applications, namely, the multi-target indicator (MTI) tracker and a histogram of oriented gradients (HOG) based pedestrian detector on 60 GB or seven sets of videos collected outdoors using the IMV1 lens on a PackBot. While the IMV1 performed well with MTI with a detection range limited to 35 m, it failed to provide adequate resolution for the proper execution of the HOG-based pedestrian detector outdoors. Proper exposure compensation is a prerequisite for any outdoor task using the IMV1 due to its extremely wide field of view (FOV).