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1	Terrain sensor for semi active suspension in CV90 Nordin, Fredrik January 2017 (has links) The combat vehicle, CV90 has a semi-active hydraulic suspension system which uses inertial measurements for regulation to improve accessibility. To improve performance further measurements of future terrain can be used to, for example, prepare for impacts. This master's thesis investigates the ability to use existing sensors and new sensors to facilitate these measurements. Two test runs were performed, with very different conditions and outcomes. The results seem to suggest that a sweeping LIDAR was the most accurate and robust solution. However, using a very recent visual odometry algorithm, promising results were achieved using an Infra-red heat camera. Especially given that no efforts were put into adjusting parameters for that particular algorithm. terrain sensor cv90 slam visual odometry kinect suspension lidar flir lwir Computer Engineering Datorteknik