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Please use this identifier to cite or link to this item: http://dspace.lib.cranfield.ac.uk/handle/1826/7362

Document Type: Article
Title: Objective speckle velocimetry for autonomous vehicle odometry
Authors: Francis, Daniel
Charrett, Thomas O. H.
Waugh, L.
Tatam, Ralph P.
Issue Date: 2012
Citation: D. Francis, T. O. H. Charrett, L. Waugh, and R. P. Tatam. Objective speckle velocimetry for autonomous vehicle odometry. Applied Optics, 2012, Volume 51, Issue 16, Pages 3478-3490
Abstract: Speckle velocimetry is investigated as a means of determining odometry data with potential for application on autonomous robotic vehicles. The technique described here relies on the integration of translation measurements made by normalized cross-correlation of speckle patterns to determine the change in position over time. The use of objective (non-imaged) speckle offers a number of advantages over subjective (imaged) speckle, such as a reduction in the number of optical components, reduced modulation of speckles at the edges of the image, and improved light efficiency. The influence of the source/detector configuration on the speckle translation to vehicle translation scaling factor for objective speckle is investigated using a computer model and verified experimentally. Experimental measurements are presented at velocities up to 80 mms=1 which show accuracy better than 0.4%.
URI: http://dx.doi.org/10.1364/AO.51.003478
Appears in Collections:Staff publications - School of Engineering

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