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Applied Optics

Applied Optics

APPLICATIONS-CENTERED RESEARCH IN OPTICS

  • Editor: Joseph N. Mait
  • Vol. 51, Iss. 16 — Jun. 1, 2012
  • pp: 3478–3490

Objective speckle velocimetry for autonomous vehicle odometry

D. Francis, T. O. H. Charrett, L. Waugh, and R. P. Tatam  »View Author Affiliations


Applied Optics, Vol. 51, Issue 16, pp. 3478-3490 (2012)
http://dx.doi.org/10.1364/AO.51.003478


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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 80mms1 which show accuracy better than 0.4%.

© 2012 Optical Society of America

OCIS Codes
(100.2000) Image processing : Digital image processing
(120.6150) Instrumentation, measurement, and metrology : Speckle imaging
(120.7250) Instrumentation, measurement, and metrology : Velocimetry

ToC Category:
Instrumentation, Measurement, and Metrology

History
Original Manuscript: January 30, 2012
Revised Manuscript: March 7, 2012
Manuscript Accepted: March 7, 2012
Published: May 31, 2012

Citation
D. Francis, T. O. H. Charrett, L. Waugh, and R. P. Tatam, "Objective speckle velocimetry for autonomous vehicle odometry," Appl. Opt. 51, 3478-3490 (2012)
http://www.opticsinfobase.org/ao/abstract.cfm?URI=ao-51-16-3478

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