Speckle velocimetry for high accuracy and multi-dimensional odometry

人们对提高自主陆地车辆的能力非常感兴趣，其应用范围广泛，从核设施的检查/维修、管道检查、军事监视、搜索和救援、拆弹/排雷和空间探索漫游车到家用吸尘器、割草机和泳池清洁器。一个特别感兴趣的领域涉及车辆的导航，特别是测量车辆的运动或定位。里程计或“航位推算”通常用于计算车辆的位置，并且需要对行驶距离进行一些测量。目前，测量里程计最常用的技术包括使用车轮编码器计数车轮转数。这很容易产生错误和不准确，例如由于车轮打滑，车轮直径不等，车轮不对中，表面粗糙度和由于车轮增量的离散采样而产生的舍入误差。本文提出了一种改进的导航反馈方法，该方法将非接触式光学传感与数字图像处理技术相结合。本文提出了一种改进的导航反馈方法，该方法将非接触式光学传感与数字图像处理技术相结合。该计划将涉及测试系统的构建和演示，处理算法的优化以及其能力的评估。随后将进一步开发该概念，以提供有关车辆旋转和车辆打滑检测的其他导航信息。

There is great interest in improving the capabilities of autonomous land vehicles, for a diverse range of applications ranging from inspection/repair in nuclear facilities, pipeline inspections, military surveillance, search and rescue, bomb disposal/mine clearance and space exploration rovers to household vacuum cleaners, lawn mowers and pool cleaners. One area of particular interest concerns the navigation of the vehicle and in particular measuring a vehicle's movements or localisation. Odometry or 'dead reckoning' is commonly used to calculate a vehicle's position, and requires some measure of the distance travelled. Currently, the most common technique for measuring odometry involves counting wheel revolutions using wheel encoders. This is prone to errors and inaccuracies, for example due to wheel slippages, unequal wheel diameters, misalignment of wheels, surface roughness and rounding errors due to the discrete sampling of wheel increments. The research proposed here is the development of an improved method of navigation feedback using non-contact optical sensing combined with digital image processing techniques.The research proposed here is the development of an improved method of navigation feedback using non-contact optical sensing combined with digital image processing techniques. The program will involve the construction and demonstration of a test system, the optimisation of processing algorithms and an assessment of its capabilities. This will be followed by the further development of the concept to provide other navigational information about the vehicle's rotation and the detection of vehicle slippages.