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Kalibrace snímačů pro multispektrální datovou fúzi v mobilní robotice / Sensor Calibration for Multispectral Data Fusion in Mobile Robotics

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.

Identiferoai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:390238
Date January 2015
CreatorsKalvodová, Petra
ContributorsHanzl, Vlastimil, Mazal,, Jan, Pospíšil,, Jiří, Weigel, Josef
PublisherVysoké učení technické v Brně. Fakulta stavební
Source SetsCzech ETDs
LanguageCzech
Detected LanguageEnglish
Typeinfo:eu-repo/semantics/doctoralThesis
Rightsinfo:eu-repo/semantics/restrictedAccess

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