Vibration analysis of land mine detection using high-pressure water jets
The goal of the waterjet-based mine location and identification project is to investigate the use of waterjets to locate and differentiate buried objects. When a buried object is struck with a high-pressure waterjet, the impact will cause characteristic vibrations in the object depending on the object's shape and composition. These vibrations will be transferred to the ground and then to the water stream that is hitting the object. Some of these vibrations will also be transferred to the air via the narrow channel the waterjet cuts in the ground.
As one of the key requirements in the intelligent vehicle, accurate and precise localisation is essential to ensure swift route planning during the drive. In this study, the authors would like to reduce the longitudinal positioning error that remains as a challenge in accurate localisation. To solve this, they propose a data fusion method by integrating information from visual odometry (VO), noisy GPS, and road information obtained from the publicly available digital map with particle filter. The curve of the VO trajectory trail is compared with road segments curve to increase longitudinal accuracy. This method is validated by KITTI dataset, tested with different GPS noise conditions, and the results show improved localisation for both lateral and longitudinal positioning errors.