Navigation in indoor and urban environments by small unmanned
systems is a topic of interest for the Air Force. The Advanced
Navigation Technology Center at the Air Force Institute of
Technology is continually looking for novel approaches to
navigation in GPS deprived environments. Inertial sensors have been
coupled with image aided concepts, such as feature tracking, with
good results. However, feature density in areas with large, flat,
smooth surfaces tends to be low. Polarimetric sensors have been
used for surface reconstruction, surface characterization and
outdoor navigation. This thesis combines aspects of some of these
algorithms along with a realistic, micro-facet polarimetric model
and a Kalman filter approach to determine surface structure and
platform orientation in an indoor environment. A series of
graphical user interfaces were developed to estimate surface
material parameters. A more complex simulation software package was
used to estimate camera attitude. A physical polarimeter was also
designed and built to test the algorithms in a realistic
environment. An improvement in attitude estimation of up to 50% was
demonstrated.
General
| Imprint: |
Biblioscholar
|
| Country of origin: |
United States |
| Release date: |
November 2012 |
| First published: |
November 2012 |
| Authors: |
Jeremiah Johnson
|
| Dimensions: |
246 x 189 x 9mm (L x W x T) |
| Format: |
Paperback - Trade
|
| Pages: |
164 |
| ISBN-13: |
978-1-288-31985-5 |
| Categories: |
Books >
Social sciences >
Education >
General
|
| LSN: |
1-288-31985-1 |
| Barcode: |
9781288319855 |
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