Vehicle Motion Estimation Using Low-Cost Optical Flow and Sensor Fusion

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dc.contributor.advisor Stol, K en Chun, Chong en 2012-03-19T04:45:26Z en 2012 en
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dc.description Full text is available to authenticated members of The University of Auckland only. en
dc.description.abstract There has been much research on developing low-cost optical flow sensor for 2-dimensional movement detection, but the usage of such sensors for automotive vehicle applications has not been investigated to the same extent. This thesis explores the use of low-cost optical flow sensors using optical mouse chips for automotive vehicle motion estimation, and their potential to be used with other commonly-used sensors for automotive applications. An optical flow sensor, which represents a sensor using the optical mouse chip in this thesis, was used to develop a sensor module for automotive vehicle application. This involved studies relating usability of such sensors in outdoor environments which includes the surface which the sensor is used on and lighting conditions. The development of the module also involved a suitable lens setup to be developed, along with casing which allows mounting of the module onto a vehicle. A method of calibrating the developed optical flow sensors has been developed to calibrate sensor parameters, including the scale factor which converts sensor output from pixel counts to metres, and the orientation and location of the sensor. The developed method used two calibration boards to calibrate multiple sensors at the same time, and the result showed that it can accurately estimate the sensor parameters. A sensor fusion method of multiple optical flow sensors has been investigated and implemented using a Kalman filter to provide forward and side slip speed and yaw rate of the vehicle movement. A simulation was developed to verify the performance of sensor fusion and the system was also tested in a field experiment. Further study was continued to fuse an Inertial Measurement Unit and On-Board Diagnostics-II with optical flow sensors to provide a more robust and accurate sensor system. A simulation was developed to simulate all sensors, and the developed sensor fusion method was again implemented and tested. en
dc.publisher ResearchSpace@Auckland en
dc.relation.ispartof Masters Thesis - University of Auckland en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. en
dc.rights Restricted Item. Available to authenticated members of The University of Auckland. en
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dc.title Vehicle Motion Estimation Using Low-Cost Optical Flow and Sensor Fusion en
dc.type Thesis en The University of Auckland en Masters en
dc.rights.holder Copyright: The author en
pubs.elements-id 327780 en Engineering en Mechanical Engineering en
pubs.record-created-at-source-date 2012-03-19 en

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