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Book synopsis

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.

Book details

Book category Books in English Society & social sciences Education

• Full title: Optical Flow-Based Odometry for Underground Tunnel Exploration
• Author: Terra Kier
• Language: English
• Binding: Paperback
• Number of pages: 66
• EAN: 9781288305841
• ISBN: 9781288305841
• ID: 08242512
• Publisher: Biblioscholar
• Weight: 136 g
• Dimensions: 246 × 189 × 4 mm
• Date of publishing: 16. November 2012

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