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Degree

Master of Science (MS), Ohio University, Electrical Engineering (Engineering and Technology), 2008.

Abstract

This thesis describes an implementation of a 3D imaging sensor aided Inertial Measurement Unit navigation system. The thesis describes previous efforts in the area of alternative navigation, and describes current 3D imaging navigation techniques. The thesis then describes a method of extracting planar surfaces from acquired 3D data.

Also described is methodology describing the association of planar surfaces between 3D camera frames. The method of calculating a position solution from extracted and associated planar surfaces is described, along with the implementation of a complimentary Kalman filter to provide a tightly integrated navigation solution between the 3D imaging sensor and the Inertial Measurement Unit. Two tests were performed with the proposed methodology, and an accurate navigation solution was demonstrated to be obtainable.

Subject Headings

Electrical engineering

Keywords

Flash Lidar; histogramming; navigation; feature extraction; feature association

Committee / Advisors

Maarten Uijt de Haag, PhD (Advisor)
Frank Van Graas, PhD (Committee Member)
Doug Lawrence, PhD (Committee Member)
David Keck, PhD (Other)

Pages

111p.

Document number: ohiou1218764810
Permalink: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1218764810

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