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The current threats to US security, both military and civilian, have led to an increased interest in the development of technologies to safeguard national facilities such as military bases, federal buildings, nuclear power plants, and national laboratories. As a result, the imaging, robotics, and intelligent systems (IRIS) laboratory at the University of Tennessee has established a research consortium, known as security automation and future electromotive robotics (SAFER), to develop, test, and deploy sensing and imaging systems. In this paper, we describe efforts made to build multi‐perspective mosaics of infrared and color video data for the purpose of under vehicle inspection. It is desired to create a large, high‐resolution mosaic that may be used to quickly visualize the entire scene shot by a camera making a single pass underneath the vehicle. Several constraints are placed on the video data in order to facilitate the assumption that the entire scene in the sequence exists on a single plane. Therefore, a single mosaic is used to represent a single video sequence.

To present a Mobile Scanning System for digitizing three‐dimensional (3D) models of real‐world terrain.

A combination of sensors (video, laser range, positioning, orientation) is placed on a mobile platform, which moves past the scene to be digitized. Data fusion from the sensors is performed to construct an accurate 3D model of the target environment.

The developed system can acquire accurate models of real‐world environments in real time, at resolutions suitable for a variety of tasks.

Treating the individual subsystems of the mobile scanning system independently yields a robust system that can be easily reconfigured on the fly for a variety of scanning scenarios.