Visual and depth perception unit for Atlascar2

Detalhes bibliográficos
Autor(a) principal: Correia, José Diogo Madureira
Data de Publicação: 2017
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10773/22498
Resumo: This thesis is focused on the installation of multiple Light Detection And Ranging and vision-based sensors on a full sized mobile platform, ATLASCAR 2. This vehicle is a Mitsubishi i-MiEV. In the scope of this work it will be equipped with two planar scanners, a 3D scanner and a camera. The sensors will be installed in the vehicle's front supported by an infrastructure built in aluminium pro le and connected to the vehicle's chassis. All sensors are powered by the car's low voltage circuit and controlled by a switched board placed in the trunk alongside with a processing unit. Sensor calibration is accomplished using a calibration package developed at the Laboratory of Automation an Robotics, to which an option to calibrate a new 3D sensor was added, Velodyne Puck VLP-16. After the sensor calibration and to demonstrate the functionalities of the platform, an application was developed that merges the data from the Light Detection And Ranging sensors, properly referenced, in a single frame and computes and represents the space free to navigate around the vehicle.
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spelling Visual and depth perception unit for Atlascar2Engenharia mecânicaNavegação autónomaSensoresVisão por computadorThis thesis is focused on the installation of multiple Light Detection And Ranging and vision-based sensors on a full sized mobile platform, ATLASCAR 2. This vehicle is a Mitsubishi i-MiEV. In the scope of this work it will be equipped with two planar scanners, a 3D scanner and a camera. The sensors will be installed in the vehicle's front supported by an infrastructure built in aluminium pro le and connected to the vehicle's chassis. All sensors are powered by the car's low voltage circuit and controlled by a switched board placed in the trunk alongside with a processing unit. Sensor calibration is accomplished using a calibration package developed at the Laboratory of Automation an Robotics, to which an option to calibrate a new 3D sensor was added, Velodyne Puck VLP-16. After the sensor calibration and to demonstrate the functionalities of the platform, an application was developed that merges the data from the Light Detection And Ranging sensors, properly referenced, in a single frame and computes and represents the space free to navigate around the vehicle.Este trabalho assenta na instalação de sensores Light Detection And Ranging e de visão numa plataforma movel à escala real, o ATLASCAR 2. Este veículo é um Mitsubishi i-MiEV que, no ambito deste trabalho, será equipado com dois scaners planares, um scaner 3D e uma camara. Estes sensores serão instalados na frente do veículo e suportados por uma infraestrurura desenvolvida em per l da alumínio e xa ao chassis do mesmo. A alimentação dos sensores é feita atravéz do circuito de baixa tensão do veículo e controlada por um quadro elétrico situado no porta bagagens juntamente com a unidade de processamento. A calibração destes sensores realizou-se atravéz um pacote de calibração multisensorial devenvolvido no Laboratorio de Automa ção e Robotica, ao qual foi adicionada a opção de calibrar um novo sensor 3D, Velodyne Puck VLP-16. Após a calibração dos sensores e no sentido de demonstrar as funcionalidades da plataforma, foi desenvolvida uma aplicação que combina os dados dos sensors Light Detection And Ranging devidamente referenciados e calcula e representa o espaço, disponivel para navegar em torno do veiculo.Universidade de Aveiro2018-03-05T15:05:21Z2017-01-01T00:00:00Z2017info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10773/22498TID:201938839engCorreia, José Diogo Madureirainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-02-22T11:44:09Zoai:ria.ua.pt:10773/22498Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T02:56:39.936209Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Visual and depth perception unit for Atlascar2
title Visual and depth perception unit for Atlascar2
spellingShingle Visual and depth perception unit for Atlascar2
Correia, José Diogo Madureira
Engenharia mecânica
Navegação autónoma
Sensores
Visão por computador
title_short Visual and depth perception unit for Atlascar2
title_full Visual and depth perception unit for Atlascar2
title_fullStr Visual and depth perception unit for Atlascar2
title_full_unstemmed Visual and depth perception unit for Atlascar2
title_sort Visual and depth perception unit for Atlascar2
author Correia, José Diogo Madureira
author_facet Correia, José Diogo Madureira
author_role author
dc.contributor.author.fl_str_mv Correia, José Diogo Madureira
dc.subject.por.fl_str_mv Engenharia mecânica
Navegação autónoma
Sensores
Visão por computador
topic Engenharia mecânica
Navegação autónoma
Sensores
Visão por computador
description This thesis is focused on the installation of multiple Light Detection And Ranging and vision-based sensors on a full sized mobile platform, ATLASCAR 2. This vehicle is a Mitsubishi i-MiEV. In the scope of this work it will be equipped with two planar scanners, a 3D scanner and a camera. The sensors will be installed in the vehicle's front supported by an infrastructure built in aluminium pro le and connected to the vehicle's chassis. All sensors are powered by the car's low voltage circuit and controlled by a switched board placed in the trunk alongside with a processing unit. Sensor calibration is accomplished using a calibration package developed at the Laboratory of Automation an Robotics, to which an option to calibrate a new 3D sensor was added, Velodyne Puck VLP-16. After the sensor calibration and to demonstrate the functionalities of the platform, an application was developed that merges the data from the Light Detection And Ranging sensors, properly referenced, in a single frame and computes and represents the space free to navigate around the vehicle.
publishDate 2017
dc.date.none.fl_str_mv 2017-01-01T00:00:00Z
2017
2018-03-05T15:05:21Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10773/22498
TID:201938839
url http://hdl.handle.net/10773/22498
identifier_str_mv TID:201938839
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidade de Aveiro
publisher.none.fl_str_mv Universidade de Aveiro
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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