Vehicle testbed for multispectral imaging and vision-based geolocation

We built a multispectral data collection system and vehicle testbed for experimentation on vision-based geolocation. The data collection system includes a gimballed mount with VIS, NIR, SWIR, MWIR and LWIR sensors allowing us to compare simultaneous imagery of features or targets across all the atmospheric bands. For geolocation experiments, the testbed is equipped with a dual-GPS inertial measurement unit for true location and orientation, a CAN bus interface to pull vehicle speedometer and odometer data. It is also outfitted with a dual-GPU, rugged, edge computer used to control the system and collect data; the computer is pre-loaded with geospatial data (maps, tower positions, elevation data, etc.) necessary for tracking targets of interest or performing real-time geolocation estimates. 60% of the rear seat was replaced with an electronics rack which also houses a 3kW inverter providing power to all of the equipment. A weather-proof cable pass through was installed in the roof of the truck while a weather-proof enclosure provides wind and rain protection to the roof-mounted equipment. We present multispectral panoramic imagery of flat environments where cellular towers provide ideal references for geolocation and mountainous environments where the landscape and horizon topography provide viable geo-references. We will present an overview of the data collection modes, calibration procedures, and the driving data sets collected to date.