Cross Hallway Detection and Indoor Localization Using Flash Laser Detection and Ranging

Abstract

A flash LADAR is investigated as a source of navigation information to support cross-hallway detection and relative localization. To accomplish this, a dynamic, flexible simulation was developed that simulated the LADAR and the noise of a LADAR system. Using simulated LADAR data, algorithms were developed that were shown to be effective at detecting cross hallways in simulated ideal environments and in simulated environments with noise. Relative position was determined in the same situations. A SwissRanger SR4000 flash LADAR was then used to collect real data and to verify algorithm performance in real environments. Hallway detection was shown to be possible in all real data sets, and the relative position-finding algorithm was shown to be accurate when compared to the absolute accuracy of the LADAR. Thus, flash LADAR is concluded to be an effective source for indoor navigation information.

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Document Details

Document Type
Technical Report
Publication Date
Jun 14, 2012
Accession Number
ADA559789

Entities

People

  • Istvan Prileszky

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Air Force
  • Computer Vision
  • Data Processing
  • Data Sets
  • Detection
  • Detectors
  • Global Positioning Systems
  • Inertial Measurement Units
  • Inertial Navigation
  • Inertial Navigation Systems
  • Information Processing
  • Lasers
  • Light Sources
  • Navigation
  • Position Finding
  • Range Finding
  • Three Dimensional

Readers

  • Materials Science.
  • Positioning, Navigation, and Timing (PNT) Technology.
  • Vision Science/Vision Psychology/Cognitive Neuroscience.

Technology Areas

  • Directed Energy