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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

A Mobile Robotic Computing Platform For Three-dimensional Indoor Mappi

McCoig, Kenneth 01 January 2004 (has links)
There are several industries exploring solutions to quickly and accurately digitize unexplored indoor environments, into useable three-dimensional databases. Unfortunately, there are inherent challenges to the indoor mapping process such as, scanning limitations and environment complexity, which require a specific application of tools to map an environment precisely with low cost and high speed. This thesis successfully demonstrates the design and implementation of a low cost mobile robotic computing platform with laser scanner, for quickly mapping with high resolution, urban and/or indoor environments using a gyro-enhanced orientation sensor and selectable levels of detail. In addition, a low cost alternative solution to three-dimensional laser scanning is presented, via a standard two-dimensional SICK proximity laser scanner mounted to a custom servo motor mount and controlled by external microcontroller. A software system to control the robot is presented, which incorporates and adheres to widely accepted software engineering guidelines and principles. An analysis of the overall system, including robot specifications, system capabilities, and justification for certain design decisions, are described in detail. Results of various open source software algorithms, as it applies to scan data and image data, are also compared; including evaluation of data correlation and registration techniques. In addition, laser scanner mapping tests, specifications, and capabilities are presented and analyzed. A sample design for converting the final scanned point cloud data to a database is presented and assessed. The results suggest the overall project yields a relatively high degree of accuracy and lower cost over most other existing systems surveyed, as well as, the potential for application of the system in other fields. The results also discuss thoughts for possible future research work.
2

Laser-mapping and 3D reconstruction of the Lower Ordovician El Paso Group breccia collapse breccias, Franklin Mountains, Texas

Bellian, Jerome Anthony, 1971- 19 January 2011 (has links)
The Lower Ordovician El Paso Group is a >400-m-thick carbonate succession exposed in the Franklin Mountains, El Paso, Texas. The El Paso Group contains multiple breccias related to collapsed-paleocave systems. These breccias have been documented as having formed during the top-Lower Ordovician Sauk depositional supersequence lowstand. Evidence presented in this study suggests that cave formation may have been as much as 350 million years younger and related to Laramide oblique right lateral compression. Regardless of the timing of formation, the breccias mapped in this study are of collapsed paleocave origin based on breccia clast organization and matrix content. Speleogenetic models are compared against observations of breccia distribution by direct field observations and mapping on sub-meter airborne light detection and ranging or lidar data. Point vectors were defined for every point within study area to highlight subtle changes in outcrop erosional profile for mapping geological features directly on the lidar point cloud. In addition, spectral data from airborne photography and hyperspectral image analysis were used assist in geological contact definition. A digital outcrop model was constructed from 3D geologic mapping results from which spatial statistic were extracted and used to reconstruct collapsed paleocave breccia bodies. The resultant breccia geometries were compared against laser-scanned modern cave dimensions, from Devil's Sinkhole, Rocksprings, Texas, and used in analysis of conceptual models for cave formation. The breccias of the southern Franklin Mountains follow linear trends that closely match Riedel shear fracture patterns predicted from right-lateral oblique compression. Stress orientations that match right-lateral oblique compression in the Phanerozoic of the El Paso region are related to the Laramide orogeny. The relationship of observed structures and the orientation of collapse breccias may indicate that southern Franklin Mountain breccia bodies are the result of a solution-enhanced tectonic karst system. / text
3

3D mapování s využitím řídkých dat senzoru LiDAR / 3D Mapping from Sparse LiDAR Data

Veľas, Martin Unknown Date (has links)
Tato práce se zabývá návrhem nových algoritmů pro zpracování řídkých 3D dat senzorů LiDAR, včetně kompletního návrhu batohovího mobilního mapovacího řešení. Tento výzkum byl motivován potřebou takových řešení v oblasti geodézie, mobilního průzkumu a výstavby. Nejprve je prezentován iterační algoritmus pro spolehlivou registraci mračen bodů a odhad odometrie z měření 3D LiDARu. Problém řídkosti a velikosti těchto dat je řešen pomocí náhodného vzorkování pomocí Collar Line Segments (CLS). Vyhodnocení na standardní datové sadě KITTI ukázalo vynikající přesnost oproti známému algoritmu General ICP. Konvoluční neuronové sítě hrají důležitou roli ve druhé metodě odhadu odometrie, která zpracovává kódovaná data LiDARu do 2D matic. Metoda je schopna online výkonu, zatímco je zachována přesnost, když požadujeme pouze parametry posunu. To může být užitečné v situacích, kdy je vyžadován online náhled mapování a parametry rotace mohou být spolehlivě poskytnuty např. senzorem IMU. Na základě algoritmu CLS bylo navrženo a implementováno batohové mobilní mapovací řešení 4RECON. S využitím kalibrovaného a synchronizovaného páru LiDARů Velodyne a s nasazením řešení GNSS/INS s duální anténou, byl vyvinut univerzální systém poskytující přesné 3D modelování malých vnitřních i velkých otevřených prostředí. Naše hodnocení prokázalo, že požadavky stanovené pro tento systém byly splněny -- relativní přesnost do $5$~cm a průměrná chyba georeferencí pod $12$~cm. Poslední stránky obsahují popis a vyhodnocení další metody založené na konvolučních neuronových sítích -- navržených pro segmentaci země v mračnech bodů 3D LiDARu. Tato metoda překonala současný stav techniky v této oblasti a představuje způsob, jakým může být sémantická informace vložena do 3D laserových dat.

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