24,264 research outputs found
Characterization of a RS-LiDAR for 3D Perception
High precision 3D LiDARs are still expensive and hard to acquire. This paper
presents the characteristics of RS-LiDAR, a model of low-cost LiDAR with
sufficient supplies, in comparison with VLP-16. The paper also provides a set
of evaluations to analyze the characterizations and performances of LiDARs
sensors. This work analyzes multiple properties, such as drift effects,
distance effects, color effects and sensor orientation effects, in the context
of 3D perception. By comparing with Velodyne LiDAR, we found RS-LiDAR as a
cheaper and acquirable substitute of VLP-16 with similar efficiency.Comment: For ICRA201
Digital representation of historical globes : methods to make 3D and pseudo-3D models of sixteenth century Mercator globes
In this paper, the construction of digital representations of a terrestrial and celestial globe will be discussed. Virtual digital (3D) models play an important role in recent research and publications on cultural heritage. The globes discussed in this paper were made by Gerardus Mercator (1512-1594) in 1541 and 1551. Four techniques for the digital representation are discussed and analysed, all using high-resolution photographs of the globes. These photographs were taken under studio conditions in order to get equal lighting and to avoid unwanted light spots. These lighting conditions are important, since the globes have a highly reflective varnish covering. Processing these images using structure from motion, georeferencing of separate scenes and the combination of the photographs with terrestrial laser scanning data results in true 3D representations of the globes. Besides, pseudo-3D models of these globes were generated using dynamic imaging, which is an extensively used technique for visualisations over the Internet. The four techniques and the consequent results are compared on geometric and radiometric quality, with a special focus on their usefulness for distribution and visualisation during an exhibition in honour of the five hundredth birthday of Gerardus Mercator
Automated Classification of Airborne Laser Scanning Point Clouds
Making sense of the physical world has always been at the core of mapping. Up
until recently, this has always dependent on using the human eye. Using
airborne lasers, it has become possible to quickly "see" more of the world in
many more dimensions. The resulting enormous point clouds serve as data sources
for applications far beyond the original mapping purposes ranging from flooding
protection and forestry to threat mitigation. In order to process these large
quantities of data, novel methods are required. In this contribution, we
develop models to automatically classify ground cover and soil types. Using the
logic of machine learning, we critically review the advantages of supervised
and unsupervised methods. Focusing on decision trees, we improve accuracy by
including beam vector components and using a genetic algorithm. We find that
our approach delivers consistently high quality classifications, surpassing
classical methods
Evaluation of laser range-finder mapping for agricultural spraying vehicles
In this paper, we present a new application of laser range-finder sensing to agricultural spraying vehicles. The current generation of spraying vehicles use automatic controllers to maintain the height of the sprayer booms above the crop.
However, these control systems are typically based on ultrasonic sensors mounted on the booms, which limits the accuracy of the measurements and the response of the controller to changes in the terrain, resulting in a sub-optimal spraying process. To overcome these limitations, we propose to use a laser scanner, attached to the front of the sprayer's cabin, to scan the ground surface in front of the vehicle and to build a scrolling 3d map of the terrain. We evaluate the proposed solution in a series of field tests, demonstrating that the approach provides a more detailed and accurate representation of the environment than the current sonar-based solution, and which can lead to the development of more efficient boom control systems
Prelaunch testing of the GEOS-3 laser reflector array
The prelaunch testing performed on the Geos-3 laser reflector array before launch was used to determine the lidar cross section of the array and the distance of the center of gravity of the satellite from the center of gravity of reflected laser pulses as a function of incidence angle. Experimental data are compared to computed results
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