Thesis deals with data fusion and calibration of sensory system of Orpheus-X3 robot and EnvMap mapping robot. These robots are parts of Cassandra robotic system that is used for exploration of hazardous or inaccessible areas. Corrections of measured distances are determined for used laser scanners Velodyne HDL-64, Velodyne HDL-32 and range camera SwissRanger SR4000. Software MultiSensCalib has been created and is described. This software is used for determination of intrinsic parameters of heterogeneous cameras of the sensory head and for determination of mutual position and orientation of these sensors. Algorithm for data fusion of CCD camera stereo pair, thermal imager stereo pair and range camera is proposed. Achieved calibration and data-fusion parameters are evaluated by several experiments.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:390238 |
| Date | January 2015 |
| Creators | Kalvodová, Petra |
| Contributors | Hanzl, Vlastimil, Mazal,, Jan, Pospíšil,, Jiří, Weigel, Josef |
| Publisher | Vysoké učení technické v Brně. Fakulta stavební |
| Source Sets | Czech ETDs |
| Language | Czech |
| Detected Language | English |
| Type | info:eu-repo/semantics/doctoralThesis |
| Rights | info:eu-repo/semantics/restrictedAccess |
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