Some issues concerning the development of a speckle velocimeter

Aliverdiev, A. A.; Caponero, M.; Moriconi, Claudio

doi:10.1134/1.1626780

Cited by 7 publications

(9 citation statements)

References 5 publications

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“…To achieve this aim, a complex theoretical and experimental work has been undertaken, whose preliminary results already look rather satisfactory. This paper continues our recent works [1][2][3].…”

Section: Introductionmentioning

confidence: 70%

<title>Laser speckle velocimeter for a robotized vehicle</title>

et al. 2008

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The paper points out the progress in the exploitation of high, fast and precise non-contact velocimetry for robot applications. A technique for the precise measurement of the speed between two sliding surfaces has been developed during the research project for the realisation of an autonomous robot. The robot is devoted to the scouting of dangerous sites and to the execution of measurements in these places for the exploration of an extreme Antarctica environment (RAS project). This technique is based on the precise calculation of the common movement of a laser speckle field. This approach allows the realisation of a velocimeter suitable for use in extreme conditions. A description of the adopted methodology and the obtained results are the main topic of our work.

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Section: Introductionmentioning

confidence: 70%

<title>Laser speckle velocimeter for a robotized vehicle</title>

et al. 2008

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“…The change in position of the vehicle from a particular starting point is found through integration of translation measurements. There are a number of techniques that can be used for computing speckle translation, such as the optical flow algorithms [9] or Radon transformations [12]. Our previous study [13] concluded that the normalized crosscorrelation was the most suitable for this application.…”

Section: Speckle Velocimetrymentioning

confidence: 99%

“…The technique measures a vehicles motion from the translation of laser speckle patterns. It has been used previously on an Antarctic rover [12]. The advantage of speckle velocimetry is that it can be used successfully even when there are no features, a situation which would limit related techniques such as visual odometry or digital image correlation.…”

Section: Introductionmentioning

confidence: 99%

Objective speckle velocimetry for autonomous vehicle odometry

Francis

Charrett

Waugh³

et al. 2012

Appl. Opt.

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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 80 mm s(-1) which show accuracy better than 0.4%.

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“…In this work, three different algorithms were identified for application to speckle velocimetry; the Radon transformation, suggested for speckle velocimetry on an Antarctic rover [8]; the gradient-based optical flow algorithm used in optical computer mice [9,10] and for surface strain measurements [11]; and the normalized cross-correlation [12] used in particle imaging velocimetry [13] and digital image correlation for measurements of deformation, displacement and strain [14]. The investigations into the application of these algorithms for speckle velocimetry are described in the following sections.…”

Section: Investigation Into Processing Algorithmsmentioning

confidence: 99%

Speckle velocimetry for high accuracy odometry for a Mars exploration rover

Charrett

Waugh²,

Tatam

2009

Meas. Sci. Technol.

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The results of a preliminary study into speckle velocimetry for potential application on a Mars exploration rover are presented. Speckle velocimetry is a non-contact optical velocimetry technique intended to replace or supplement the current odometry information provided by wheel encoders. This initial study investigated the feasibility of forming speckle images from Mars soil analogues and investigated potential algorithms using a laboratory test system. The normalized cross-correlation approach is identified as the most promising processing method, with preliminary results suggesting an odometry error of 0.2% at speeds of up to 1 mm s −1 and that the technique should scale well to the higher velocities (∼85 mm s −1 ) typical of exploration rovers.

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Some issues concerning the development of a speckle velocimeter

Cited by 7 publications

References 5 publications

<title>Laser speckle velocimeter for a robotized vehicle</title>

<title>Laser speckle velocimeter for a robotized vehicle</title>

Objective speckle velocimetry for autonomous vehicle odometry

Speckle velocimetry for high accuracy odometry for a Mars exploration rover

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