Date of Award


Document Type


Degree Name

Master of Science (MS)


Mechanical Engineering

First Advisor

Dryver Huston

Second Advisor

Tian Xia


This paper presents research concerning the use of visual-inertial Simultaneous Localization And Mapping (SLAM) algorithms to aid in Continuous Wave (CW) radar target mapping. SLAM is an established field in which radarhas been used to internally contribute to the localization algorithms. Instead, the application in this case is to use SLAM outputs to localize radar data and construct three-dimensional target maps which can be viewed in augmented reality. These methods are transferable to other types of radar units and sensors, but this paper presents the research showing how the methods can be applied to calculate depth efficiently with CW radar through triangulation using an intersection algorithm enhanced by calculating intersection angles. Localization of the radar target is achieved through quaternion algebra. Due to the compact nature of the SLAM and CW devices, the radar unit can be operated entirely handheld. Targets are scanned in a free-form manner where there is no need to have a gridded scanning layout. One main advantage to this method is eliminating many hours of usage training and expertise, thereby eliminating ambiguity in the location, size and depth of buried or hidden targets. Additionally, this method grants the user the additional power, penetration and sensitivity of CW radar without the lack of range finding. Applications include pipe and buried structure location, avalanche rescue, landmine detection, structural health monitoring and historical site research. Improvements to the method such as Snell’s law of refraction are also discussed. The result is an algorithm that produces accurate 3-D models of buried or obscured objects using a single frequency CW radar.



Number of Pages

107 p.

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