Detección de objetos en movimiento con sensor LIDAR

La detección de objetos en movimiento es una tarea fundamental en el mapeado, navegación y seguimientos de objetos. LIDAR es uno de los sensores más reconocidos en la tarea de detectar objetos en movimiento mediante la captura de nubes de puntos de una escena, destacando su función en aplicaciones como robótica, videovigilancia, automatización de vehículos, etc. El presente trabajo consiste en crear un sistema computacional capaz de detectar objetos en movimiento con un sensor LIDAR. Para alcanzar este objetivo, se diseña y desarrolla un dispositivo que permita la recopilación de información del entorno. Se utiliza una Raspberry Pi que conecta un LIDAR de corto alcance y un conjunto de sensores (GPS, cámara, barómetro, acelerómetro, giroscopio y magnetómetro). Con este dispositivo se puede registrar información del entorno proporcionada por los distintos sensores con el fin de ser tratado en diferido. Se realiza una agrupación de las nubes de puntos con el algoritmo de clustering DBSCAN, una segmentación de los datos utilizando la técnica de SMOTE y una asociación de las nubes de puntos mediante algoritmo ICP con el fin de detectar el movimiento. Además, se realiza una transformación de los puntos obtenidos por el LIDAR al sistema de coordenadas geodésicas mundial WGS-84, de esta manera se puede expresar los datos obtenidos en posición con respecto al elipsoide de referencia. Para verificar el movimiento generado en escena se ha desarrollado un sistema comparativo que detecta el movimiento en las imágenes capturas por la cámara que integra la Raspberry Pi, esta detección se basa en la sustracción de imágenes. Este trabajo puede ser utilizado como punto de partida para aplicaciones relacionadas con detección y escaneado de escenas mediante un dispositivo. El resultado obtenido finalmente es un dispositivo capaz de registrar conjuntos de datos y un sistema que detecta el movimiento en nubes de puntos pudiendo representarlas en WGS-84.The detection of moving objects is a fundamental task in the mapping, navigation and tracking of objects. LIDAR is one of the most recognized sensors in the task of detecting moving objects by capturing point clouds from a scene, highlighting its role in applications such as robotics, video surveillance, vehicle automation, etc. The present work consists of creating a computational system capable of detecting moving objects with a LIDAR sensor. To achieve this goal, a device that allows the collection of information from the environment is designed and developed. A Raspberry Pi is used to connect a short-range LIDAR and a set of sensors (GPS, camera, barometer, accelerometer, gyroscope and magnetometer). With this device, information from the environment provided by the different sensors can be recorded in order to be processed in deferred. A clustering of the point clouds is performed using the DBSCAN clustering algorithm, a segmentation of the data using the SMOTE technique and an association of the point clouds using ICP algorithm in order to detect motion. In addition, a transformation of the points obtained by the LIDAR to the WGS-84 world geodetic coordinate system is performed, in this way it is possible to express the data obtained in position with respect to the reference ellipsoid. To verify the movement generated in the scene, a comparative system has been developed to detect the movement in the images captured by the camera that integrates the Raspberry Pi, this detection is based on the subtraction of images. This work can be used as a starting point for applications related to detection and scanning of scenes through a device. The final result is a device capable of recording data sets and a system that detects movement in point clouds and can represent them in WGS-84.Grado en Ingeniería Informátic

Training of Crisis Mappers and Map Production from Multi-sensor Data: Vernazza Case Study (Cinque Terre National Park, Italy)

This aim of paper is to presents the development of a multidisciplinary project carried out by the cooperation between Politecnico di Torino and ITHACA (Information Technology for Humanitarian Assistance, Cooperation and Action). The goal of the project was the training in geospatial data acquiring and processing for students attending Architecture and Engineering Courses, in order to start up a team of "volunteer mappers". Indeed, the project is aimed to document the environmental and built heritage subject to disaster; the purpose is to improve the capabilities of the actors involved in the activities connected in geospatial data collection, integration and sharing. The proposed area for testing the training activities is the Cinque Terre National Park, registered in the World Heritage List since 1997. The area was affected by flood on the 25th of October 2011. According to other international experiences, the group is expected to be active after emergencies in order to upgrade maps, using data acquired by typical geomatic methods and techniques such as terrestrial and aerial Lidar, close-range and aerial photogrammetry, topographic and GNSS instruments etc.; or by non conventional systems and instruments such us UAV, mobile mapping etc. The ultimate goal is to implement a WebGIS platform to share all the data collected with local authorities and the Civil Protectio

Transforming our World through Universal Design for Human Development

An environment, or any building product or service in it, should ideally be designed to meet the needs of all those who wish to use it. Universal Design is the design and composition of environments, products, and services so that they can be accessed, understood and used to the greatest extent possible by all people, regardless of their age, size, ability or disability. It creates products, services and environments that meet people’s needs. In short, Universal Design is good design. This book presents the proceedings of UD2022, the 6th International Conference on Universal Design, held from 7 - 9 September 2022 in Brescia, Italy.The conference is targeted at professionals and academics interested in the theme of universal design as related to the built environment and the wellbeing of users, but also covers mobility and urban environments, knowledge, and information transfer, bringing together research knowledge and best practice from all over the world. The book contains 72 papers from 13 countries, grouped into 8 sections and covering topics including the design of inclusive natural environments and urban spaces, communities, neighborhoods and cities; housing; healthcare; mobility and transport systems; and universally- designed learning environments, work places, cultural and recreational spaces. One section is devoted to universal design and cultural heritage, which had a particular focus at this edition of the conference. The book reflects the professional and disciplinary diversity represented in the UD movement, and will be of interest to all those whose work involves inclusive design