Reconstrucción de entorno 3D mediante un sensor lidar
LIDAR is a technology based on laser triangulation, which allows to obtain in an optimal way the distance between the sensor and a certain object or surface, thanks to the difference between the time of exit and the time of return of the reflected light beam. Given its operation, LIDAR can produce h...
Sábháilte in:
| Príomhchruthaitheoir: | |
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| Formáid: | bachelorThesis |
| Teanga: | spa |
| Foilsithe / Cruthaithe: |
2019
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| Ábhair: | |
| Rochtain ar líne: | http://dspace.udla.edu.ec/handle/33000/10727 |
| Clibeanna: |
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Cuir clib leis | Achoimre: | LIDAR is a technology based on laser triangulation, which allows to obtain in an optimal way the distance between the sensor and a certain object or surface, thanks to the difference between the time of exit and the time of return of the reflected light beam. Given its operation, LIDAR can produce high resolution information point clouds allowing to create realistic two-dimensional and three-dimensional representations of the various physical elements of the environment. The present titration work aims to reconstruct the environment in three dimensions by using a RPLDIAR A1 sensor, which is a low-cost 2D laser scanner developed by the company RoboPeak. This device allows to make a sweep with a beam of light in 360 degrees producing a cloud of 2D points, reason why a rotating platform will be designed, which will be coupled to the sensor to add another plane and in this way to obtain the 3D reconstruction. Data processing will be performed using MATLAB 2017b software using mathematical criteria for rotation and translation matrices and homogeneous transformation, which are essential in the reconstruction process. Likewise, tools will be implemented, which will allow the manipulation of the point cloud depending on the area of interest, in addition to the application of filters in order to discard atypical points and noise in the reconstruction. In the same way, a graphical interface will be created, which gives flexibility to the user when entering the parameters of the reconstruction, as well as the application of filters for the visualization of the point cloud. Finally, the results obtained will be clouds of filtered points, which represent the 3D reconstruction of the environment in different light conditions and in various scenarios, being these indoor and outdoor. |
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