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Dissertation
Navigation in Featureless Environments Using Enhanced Phase Correlation
University of West Florida Libraries
Doctor of Philosophy (PHD), University of West Florida
2025
Abstract
Navigation in GPS-denied environments is an area of interest for a variety of communities, to include industrial, public works, public safety, maritime and defense. Visual-aided navigation methods present an excellent solution to alternative navigation, but are challenged where features are unavailable. The failure mode in this case is generally because of Fourier Transform artifacts that dominate the phase correlation output and make the true signal difficult to identify. Literature includes mathematical descriptions of phase correlation that do not predict this artifact and modifying the expressions for phase correlation to capture it is where this research begins. Motivated by the goal of adapting phase correlation for navigation in featureless environments, the improved mathematical descriptions of phase correlation are leveraged to identify avenues for enhancements. Simple image pre-processing steps are selected, and it is demonstrated through analysis of a large dataset that the pre-processing step significantly enhances
phase correlation performance for sky imagery, a category of featureless imagery. Through this analysis, an estimate is created of the maximum image shift that can be tolerated before phase correlation performance becomes unreliable.
Utilizing the theoretical results, as verified by data, an experimental demonstration is performed to show the viability of phase correlation for image registration used in a navigation application. Results indicate that at the unrefined level of experimentation performed, phase correlation has potential to perform well under these conditions. However, much work is needed to refine the technique and significant discussions are included that identify suggested enhancement studies.
Details
- Title
- Navigation in Featureless Environments Using Enhanced Phase Correlation
- Resource Type
- Dissertation
- Contributors
- Hakki Erhan Sevil (Committee Co-Chair)David Fries (Committee Co-Chair) - University of West Florida, Institute for Human and Machine CognitionArash Mahyari (Committee Member)Nicholas Rummelt (Committee Member)Jimmy E Touma (Committee Member) - University of West Florida, Mechanical Engineering
- Publisher
- University of West Florida Libraries; Argo Scholar Commons
- Format
- pdf
- Number of pages
- 196
- Copyright
- Permission granted to the University of West Florida Libraries by the author to digitize and/or display this information for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires the permission of the copyright holder.
- Identifiers
- 99381356971806600
- Academic Unit
- Intelligent Systems and Robotics
- Language
- English
- Awarding Institution
- University of West Florida; Doctor of Philosophy (PHD)
- Theses and Dissertations
- Doctor of Philosophy (PHD), University of West Florida