Date of Award
6-16-2011
Document Type
Thesis
Degree Name
Master of Science
Department
Department of Electrical and Computer Engineering
First Advisor
Kenneth A. Fisher, PhD.
Abstract
As military operations in degraded or GPS-denied environments continue to increase in frequency and importance, there is an increased necessity to be able to determine precision location within these environments. Furthermore, authorities are finding a record number of tunnels along the U.S.-Mexico border; therefore, underground tunnel characterization is becoming a high priority for U.S. Homeland Security as well. This thesis investigates the performance of a new image registration technique based on a two camera optical- flow configuration using phase correlation techniques. These techniques differ from other image based navigation methods but present a viable alternative increasing autonomy and answering the tunnel based navigation problem. This research presents an optical flow based image registration technique and validates its use with experimental results on a mobile vehicle. Results reveal that further extension to pose estimation yields accuracy within 1.3 cm.
AFIT Designator
AFIT-GE-ENG-11-21
DTIC Accession Number
ADA541611
Recommended Citation
Kier, Terra, "Optical Flow-Based Odometry for Underground Tunnel Exploration" (2011). Theses and Dissertations. 1401.
https://scholar.afit.edu/etd/1401