SHERP

플래시 라이다를 사용한 템플릿 매칭 기반의 지형참조항법
Template matching based TRN using Flash LiDAR

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Authors
윤인도
Advisor
박찬국
Major
공과대학 기계항공공학부
Issue Date
2018
Publisher
서울대학교 대학원
Description
학위논문 (석사)-- 서울대학교 대학원 : 공과대학 기계항공공학부, 2018. 8. 박찬국.
Abstract
This thesis compares and analyzes a performance of template matching based terrain referenced navigation (TMTRN) using correlation functions according to different error types and correlation functions. Conventional batch processing TRN generally utilizes the radar altimeter and adopts mean square difference (MSD), mean absolute difference (MAD), and normalized cross correlation (NCC) for matching a batch profile with terrain database. If a flash LiDAR is utilized instead of the radar, it is possible to build a profile in one-shot. A point cloud of the flash LiDAR can be transformed into 2D profile, unlike a vector profile obtained from batch processing. Therefore, by using the flash LiDAR we can apply new correlation functions such as image Euclidean distance (IMED) and image normalized cross correlation (IMNCC) which have been used in computer vision field. The simulation result shows that IMED is the most robust for different types of errors.
Language
English
URI
http://hdl.handle.net/10371/144851
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Theses (Master's Degree_기계항공공학부)
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