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플래시 라이다를 사용한 템플릿 매칭 기반의 지형참조항법 : Template matching based TRN using Flash LiDAR
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 박찬국 | - |
| dc.contributor.author | 윤인도 | - |
| dc.date.accessioned | 2018-12-03T02:41:04Z | - |
| dc.date.available | 2018-12-03T02:41:04Z | - |
| dc.date.issued | 2018-08 | - |
| dc.identifier.other | 000000153568 | - |
| dc.identifier.uri | https://hdl.handle.net/10371/144851 | - |
| dc.description | 학위논문 (석사)-- 서울대학교 대학원 : 공과대학 기계항공공학부, 2018. 8. 박찬국. | - |
| dc.description.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. | - |
| dc.description.tableofcontents | Chapter 1 Introduction 1
1.1 Motivation and background . . . . . . . . . . . . . . . . . . . . . 1 1.2 Objectives and contributions . . . . . . . . . . . . . . . . . . . . 3 Chapter 2 Related Works 5 2.1 Terrain Referenced Navigation . . . . . . . . . . . . . . . . . . . 5 2.1.1 LiDAR-based TRN . . . . . . . . . . . . . . . . . . . . . . 10 2.1.2 Image-based TRN . . . . . . . . . . . . . . . . . . . . . . 13 2.2 Template Matching . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.2.1 General idea of template matching . . . . . . . . . . . . . 16 2.2.2 Correlation function . . . . . . . . . . . . . . . . . . . . . 17 Chapter 3 Template matching based TRN 22 3.1 Relationship with BPTRN . . . . . . . . . . . . . . . . . . . . . . 22 3.2 TMTRN algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Chapter 4 Simulation Results 30 4.1 Template matching of terrain PC . . . . . . . . . . . . . . . . . . 30 4.2 TMTRN simulation . . . . . . . . . . . . . . . . . . . . . . . . . 33 Chapter 5 Conclusions and Future Works 46 5.1 Summary of the contribution . . . . . . . . . . . . . . . . . . . . 46 5.2 Future works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 | - |
| dc.format | application/pdf | - |
| dc.format.medium | application/pdf | - |
| dc.language.iso | en | - |
| dc.publisher | 서울대학교 대학원 | - |
| dc.subject.ddc | 621 | - |
| dc.title | 플래시 라이다를 사용한 템플릿 매칭 기반의 지형참조항법 | - |
| dc.title.alternative | Template matching based TRN using Flash LiDAR | - |
| dc.type | Thesis | - |
| dc.contributor.AlternativeAuthor | Indo Yoon | - |
| dc.description.degree | Master | - |
| dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
| dc.date.awarded | 2018-08 | - |
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