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%.
