Open Access. Powered by Scholars. Published by Universities.®
Physical Sciences and Mathematics Commons™
Open Access. Powered by Scholars. Published by Universities.®
- Discipline
- Publication
- Publication Type
Articles 1 - 7 of 7
Full-Text Articles in Physical Sciences and Mathematics
Cross Hallway Detection And Indoor Localization Using Flash Laser Detection And Ranging, Istvan M. Prileszky
Cross Hallway Detection And Indoor Localization Using Flash Laser Detection And Ranging, Istvan M. Prileszky
Theses and Dissertations
A flash LADAR is investigated as a source of navigation information to support cross-hallway detection and relative localization. To accomplish this, a dynamic, flexible simulation was developed that simulated the LADAR and the noise of a LADAR system. Using simulated LADAR data, algorithms were developed that were shown to be effective at detecting cross hallways in simulated ideal environments and in simulated environments with noise. Relative position was determined in the same situations. A SwissRanger SR4000 flash LADAR was then used to collect real data and to verify algorithm performance in real environments. Hallway detection was shown to be possible …
Improving Occupancy Grid Fastslam By Integrating Navigation Sensors, Christopher Weyers, Gilbert L. Peterson
Improving Occupancy Grid Fastslam By Integrating Navigation Sensors, Christopher Weyers, Gilbert L. Peterson
Faculty Publications
When an autonomous vehicle operates in an unknown environment, it must remember the locations of environmental objects and use those object to maintain an accurate location of itself. This vehicle is faced with Simultaneous Localization and Mapping (SLAM), a circularly defined robotics problem of map building with no prior knowledge. The SLAM problem is a difficult but critical component of autonomous vehicle exploration with applications to search and rescue missions. This paper presents the first SLAM solution combining stereo cameras, inertial measurements, and vehicle odometry into a Multiple Integrated Navigation Sensor (MINS) path. The FastSLAM algorithm, modified to make use …
Fast Scene Based Nonuniformity Correction With Minimal Temporal Latency, Christopher A. Rice
Fast Scene Based Nonuniformity Correction With Minimal Temporal Latency, Christopher A. Rice
Theses and Dissertations
The focus of this research was to derive a new algorithm for correction of gain nonuniformities in LIDAR focal plane arrays using as few frames as possible. Because of the current low production rate of LIDAR focal plane arrays there is a natural tendency for extreme nonuniformities to exist on a pixel by pixel basis as the manufacturing technique has not yet been perfected. Generally, nonuniformity correction techniques require a large number of frames and/or have obscure requirements on the translational shifts in the input image frames. This thesis presents a solution for finding multiplicative nonuniformities that exist in a …
Liquid Crystal On Silicon Non-Mechanical Steering Of A Laser Vibrometer System, Kevin S. Kuciapinski
Liquid Crystal On Silicon Non-Mechanical Steering Of A Laser Vibrometer System, Kevin S. Kuciapinski
Theses and Dissertations
This research examined the possibility of using a non-mechanical beam steering device to steer the beam of a coherent laser radar system. Non-mechanical beam steering devices offer many advantages in size, weight, power requirements, and steering speeds. Additionally, non-mechanical beam steering devices present the capabilities of splitting a single beam into multiple beams as well as beam forming and expanding. The coherent laser radar system used was a Laser Vibrometer System. The beam of the laser vibrometer was steered from 0 mrad to 3 mrad at 1 mrad increments using the liquid crystal on silicon (LCOS) device. The laser vibrometer …
Deconvolution Analysis Of Laser Pulse Profiles From 3-D Ladar Temporal Returns, Michael D. Walter
Deconvolution Analysis Of Laser Pulse Profiles From 3-D Ladar Temporal Returns, Michael D. Walter
Theses and Dissertations
Three-dimensional laser imaging systems offer important advantages for battlefield applications, such as night-time targeting and tactical reconnaissance. Recently developed technologies used by coherent detection systems that collect temporally resolved images include arrays of Avalanche Photo-Diodes (APD), Geiger mode APDs, and photo-diodes. Frequently, LADAR systems produce waveforms from each detector that characterize the convolution of the transmitted laser pulse with the target surface. The pulse convolution generates uncertainty as to the precise location of a target surface, which can severely impact various weapon systems' targeting capability. This work analyzes two deconvolution techniques: Wiener filtering and an iterative process derived from the …
Performance Of Imaging Laser Radar In Rain And Fog, Kathleen M. Campbell
Performance Of Imaging Laser Radar In Rain And Fog, Kathleen M. Campbell
Theses and Dissertations
The Air Force is currently developing imaging laser radar systems (ladar) for use on precision guided munitions and other imaging systems. Scientists at Eglin Air Force Base, in conjunction with Wright Laboratories, are testing a 1.06-um wavelength ladar system and need to understand the weather effects on the ladar images. As the laser beam propagates through the atmosphere, fog droplets and raindrops can cause image degradation, and these image degradations are manifested as either dropouts or false returns. An analysis of the dropouts and false returns helped to quantify the performance of the system in adverse weather conditions. Statistical analysis …
Quantification Of Weather Effects On Imaging Laser Radar, Clifton D. Stargardt
Quantification Of Weather Effects On Imaging Laser Radar, Clifton D. Stargardt
Theses and Dissertations
The Air Force is investigating the use of imaging laser radar systems as autonomous guidance systems on future precision guided munitions. The Air Force's Wright Laboratory is currently testing a 1.06 micron wavelength laser radar (ladar) at Eglin Air Force Base. Since laser radiation can be susceptible to propagation problems through weather, quantitative understanding of these effects is important to the development of this weapon system. Ladar image degradation, in the form of target dropouts and false returns, was evaluated in various weather conditions. Statistical analysis of the images presented expected degrees of degradation according to visibility and rain fall …