Objective speckle velocimetry for autonomous vehicle odometry
| dc.contributor.author | Francis, Daniel | - |
| dc.contributor.author | Charrett, Thomas O. H. | - |
| dc.contributor.author | Waugh, L. | - |
| dc.contributor.author | Tatam, Ralph P. | - |
| dc.date.accessioned | 2012-07-09T23:01:33Z | |
| dc.date.available | 2012-07-09T23:01:33Z | |
| dc.date.issued | 2012-05-31T00:00:00Z | - |
| dc.description.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%. | en_UK |
| dc.identifier.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 | |
| dc.identifier.issn | 0003-6935 | - |
| dc.identifier.uri | http://dx.doi.org/10.1364/AO.51.003478 | - |
| dc.identifier.uri | http://dspace.lib.cranfield.ac.uk/handle/1826/7362 | |
| dc.publisher | Osa Optical Society of America | en_UK |
| dc.rights | This paper was published in Applied Optics and is made available as an electronic reprint with the permission of OSA. The paper can be found at the following URL on the OSA website: http://www.opticsinfobase.org/ao/abstract.cfm?uri=ao-51-16-3478 Systematic or multiple reproduction or distribution to multiple locations via electronic or other means is prohibited and is subject to penalties under law. | |
| dc.title | Objective speckle velocimetry for autonomous vehicle odometry | en_UK |
| dc.type | Article | - |