Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"3D LIDAR"”.
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Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces
… markers that allow the robot to generate 3D point cloud representations of the entire mine. While scanning the drift face, a shielded radiation sensor can be used for more directional measurements, and the locations at which the measurements are taken relative to the drift face can be …
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Obstacle detection and tracking in an urban environment Using 3D LiDAR and a Mobileye 560
In order to navigate in an urban environment, a vehicle must be able to reliably detect and track dynamic obstacles such as vehicles, pedestrians, bicycles, and motorcycles. This paper presents a sensor fusion algorithm which combines tracking information from a Mobileye 560 and a Velodyne HDL-64E. …
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Data Acquisition and Processing Pipeline for E-Scooter Tracking Using 3d Lidar and Multi-Camera Setup
… or stereo cameras, Light Detection and Ranging (LIDAR) sensors as well as Inertial Navigation systems (INS) systems. One relatively common method for solving DATMO and SLAM involves utilizing a 3D LIDAR with multiple monocular cameras in conjunction with an inertial measurement unit (IMU) allows …
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Using UAV Mounted LiDAR to Estimate Plant Height and Growth
… monitor plant health andgrowth cycles. We use a 3D LiDAR mounted on an Unmanned Aerial Vehicle (UAV) anduse the LiDAR data for height and plot estimation. We present a general methodology forextracting plant heights from 3D LiDAR with two specific variants for the two environments:row-crops and …
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Development of an Exteroceptive Sensor Suite on Unmanned Surface Vessels for Real-Time Classification of Navigational Markers
… Three sensors were used to complete this task: a 3D LIDAR and two visible light cameras. First, all LIDAR points were transformed from the sensor’s reference frame to the local frame using a Kalman filter to estimate instantaneous vehicle pose. Next, objects were chosen from the LIDAR data to be …
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Maritime Object Detection, Tracking, and Classification Using Lidar and Vision-Based Sensor Fusion
… This thesis demonstrates an application of LiDAR sensors in maritime environments for object detection, classification, and camera sensor fusion. This is accomplished through the integration of a high-fidelity GPS/INS system, 3D LiDAR sensors, and a pair of cameras. After rotating LiDAR …
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Tracking Human Movement Indoors Using Terrestrial Lidar
… study, this research leverages 11 terrestrial lidar sensors to develop a dynamic digital model that continuously captures human activities within public spaces of the building. Three distinct object detection methodologies were evaluated: deep learning models, OpenCV-based techniques, and …
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Mapping and Localization Using LiDAR Fiducial Markers
LiDAR sensors are essential for autonomous systems, yet LiDAR fiducial markers (LFMs) lag behind visual fiducial markers (VFMs) in adoption and utility. Bridging this gap is vital for robotics and computer vision but challenging due to the sparse, unstructured nature of 3D LiDAR data and 2D-focused …
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A Deep Learning Approach to the Detection and Tracking of Moving Objects in 2D Point Clouds
… efficiently. In autonomous driving research, LiDAR is becoming increasingly popular due to its high resolution and accuracy. There are many state-of-the-art DATMO methods using LiDAR, however, most methods are designed for 3D LiDAR sensors. Methods that work for 2D LiDAR sensors are not as …
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Occlusion prediction for kiwifruit yield estimation
… occlusion. The system utilises stereo vision, a 3D lidar unit, an inertial measurement unit and LED lighting mounted on an all terrain vehicle (ATV). Data is captured across 16 maturity areas, consisting of 33.9 Ha of commercial kiwifruit orchards. A simultaneous localisation and mapping system …
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Real-Time Realization of Lidar – Based Digital Surface Models for Airborne Safe Landing Zone Identification in Challenging Environments
… such applications, there is a need for efficient LiDAR processing algorithms capable of generating DSMs in real-time and provide the safe landing zone (SLZ) for the aircraft landing. Several research activities have addressed robust filtering algorithms for the airborne laser scanning (ALS) data. …
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Real-time Dense Simultaneous Localisation and Mapping over Large Scale Environments
… was on 2D laser scan SLAM, more recently full 3D SLAM has become the dominant paradigm. The recent expansion in popularity of full, dense 3D SLAM is arguably a result of the release of the Microsoft Kinect commodity RGB-D sensor, which provides high quality depth sensing capabilities for a …
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Mapping of complex marine environments using an unmanned surface craft
… accurate GPS localization with mapping to build 3D maps in a diverse range of terrestrial environments, but the mapping of marine environments lags behind. This is particularly true in shallow water and coastal areas with man-made structures such as bridges, piers, and marinas, which can pose …
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River channel dynamics mapped with dense lidar point cloud time series
… high-resolution airplane- and drone-based lidar datasets that describe the detailed shape of the bank surface topography. Changes between the datasets show how the outer channel banks evolve over time scales ranging from two months to 14 years. A second motivation for my work is to advance …