{"product_id":"optical-flow-based-odometry-for-underground-terra-kier-9781288305841","title":"Optical Flow-Based Odometry for Underground Tunnel Exploration","description":"As military operations in degraded or GPS-denied environments continue to increase in frequency and importance, there is an increased necessity to be able to determine precision location within these environments. Furthermore, authorities are finding a record number of tunnels along the U.S.-Mexico border; therefore, underground tunnel characterization is becoming a high priority for U.S. Homeland Security as well. This thesis investigates the performance of a new image registration technique based on a two camera optical- flow configuration using phase correlation techniques. These techniques differ from other image based navigation methods but present a viable alternative increasing autonomy and answering the tunnel based navigation problem. This research presents an optical flow based image registration technique and validates its use with experimental results on a mobile vehicle. Results reveal that further extension to pose estimation yields accuracy within 1:3 cm.\u003cbr\u003e\u003cbr\u003e\u003cb\u003eAuthor:\u003c\/b\u003e Terra Kier\u003cbr\u003e\u003cb\u003eISBN-10:\u003c\/b\u003e 1288305842\u003cbr\u003e\u003cb\u003eISBN-13:\u003c\/b\u003e 9781288305841\u003cbr\u003e\u003cb\u003ePublisher:\u003c\/b\u003e Biblioscholar\u003cbr\u003e\u003cb\u003eLanguage:\u003c\/b\u003e English\u003cbr\u003e\u003cb\u003ePublished:\u003c\/b\u003e 11\/16\/2012\u003cbr\u003e\u003cb\u003ePages:\u003c\/b\u003e 66\u003cbr\u003e\u003cb\u003eFormat:\u003c\/b\u003e Paperback\u003cbr\u003e\u003cb\u003eWeight:\u003c\/b\u003e 0.30lbs\u003cbr\u003e\u003cb\u003eSize:\u003c\/b\u003e 9.69h x 7.44w x 0.14d","brand":"Terra Kier","offers":[{"title":"Paperback","offer_id":43924713996543,"sku":"9781288305841","price":57.95,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0662\/2982\/9887\/products\/img_02d64b86-ff5a-445a-85ff-effa1c35d4ed.jpg?v=1681073035","url":"https:\/\/www.whiterainbookhouse.com\/products\/optical-flow-based-odometry-for-underground-terra-kier-9781288305841","provider":"WR Book House","version":"1.0","type":"link"}