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Focusing on enhancing navigation for small unmanned systems in GPS-denied indoor environments, this thesis explores innovative algorithms that integrate inertial sensors with polarimetric techniques. It addresses the challenge of low feature density on smooth surfaces by employing a micro-facet polarimetric model and a Kalman filter for surface structure and orientation determination. The research includes the development of graphical user interfaces for material parameter estimation and a physical polarimeter, achieving a notable improvement in attitude estimation by up to 50%.
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Polarimetric Enhancements to Electro-Optical Aided Navigation Techniques, Jeremiah Johnson
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- 2012
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