Advanced search options

Advanced Search Options 🞨

Browse by author name (“Author name starts with…”).

Find ETDs with:

in
/  
in
/  
in
/  
in

Written in Published in Earliest date Latest date

Sorted by

Results per page:

You searched for +publisher:"Paris Sciences et Lettres" +contributor:("Deschaud, Jean-Emmanuel"). One record found.

Search Limiters

Last 2 Years | English Only

No search limiters apply to these results.

▼ Search Limiters

1. Nouira, Houssem. Affinement de relev?s laser mobiles issus de LIDARs multi-couches : Refinement of mobile lasers scans coming from multi-beam Lidars.

Degree: Docteur es, Informatique temps r?el, robotique et automatique, 2017, Paris Sciences et Lettres

Les Syst?mes Mobiles de Cartographie bas?s LIDAR permettent d?obtenir des cartes 3D de l?environnement, qui sont g?o-r?f?renc?es gr?ce ? d?autres capteurs embarqu?s sur le v?hicule : GPS, centrale inertielle, ou encore odom?tre sont de tels capteurs qui permettent de localiser le v?hicule mobile pendant la campagne d?acquisition. Toutefois, ces cartes manquent de pr?cisions et un affinage des cartes est essentiel dans de nombreux cas d?applications o? une pr?cision fine est requise sur les cartes 3D, comme pour des applications de classifications par exemple.Lors de la cr?ation de cartes 3D g?or?f?renc?es,les donn?es sont tout d?abord acquises par le capteur LIDAR et r?f?renc?es dans le rep?re cart?sien du laser ? l?aide d?un calibrage intrins?que du capteur d?acquisition. Ensuite, un calibrage extrins?que du capteur permet de caract?riser la transformation entre le capteur et le v?hicule, et permet de r?f?rencer les donn?es dans le rep?re ? body?, li? au v?hicule d?acquisition. Enfin, avec la trajectoire du v?hicule obtenue en fusionnant les donn?es issues des GPS, centrale inertielle et odom?tre, il est possible de g?or?f?rencer les donn?es lasers.Nous proposons dans cette th?se d?affiner les relev?s laser issus d?acquisitions effectu?es ? l?aide d?un v?hicule mobile de cartographie, en optimisant plusieurs param?tres diff?rents qui entrent en compte dans le g?or?f?rencement des donn?es. Nous nous sommes int?ress?s ? l?affinement des nuages de points par optimisation des param?tres decalibrage extrins?que dans un premier temps, puis par optimisation des param?tres de calibrage intrins?que, et enfin par optimisation des param?tres de translations li?s ? la trajectoire du v?hicule mobile.

LIDAR based Mobile Mapping Systems allowto get 3D maps of the environment, which are globally referenced with the help of others sensors embedded on the vehicle: GPS,Inertial Measurement Unit, or odometer are such sensors which allow localizing the vehicle during the acquisition process. However, these maps lack of precision, and are finement of the maps is necessary for manywork where a good precision is needed on the 3D maps, like classification applications for example.When creating the globally referenced 3D maps, the data are firstly acquired by the LIDAR sensor and referenced in the Cartesian reference frame of the sensor withan intrinsic calibration of the sensor. Then, anextrinsic calibration gives the transformation between the sensor and the vehicle, and gives data referenced in the ? body ?reference frame, linked to the vehicle. Finally, with the fusion of the data coming from the GPS, the Inertial Measurement Unit and theodometer, the laser data can be globally referenced.In this thesis, we propose to refine the point clouds coming from acquisitions done with a mobile mapping system, by optimizing some parameters which are used in the georeferencing process of the data. Firstly, we were interested in the refinement of point clouds by optimizing the extrinsic calibration parameters, and then we were interested in the…

Advisors/Committee Members: Goulette, Fran?ois (thesis director), Deschaud, Jean-Emmanuel (thesis director).

Subjects/Keywords: Affinement de relev?s laser; LIDAR multi-couches; Calibrage; V?hicule mobile de cartographie; Cartographie terrestre; Recalage de donn?es; Point clouds refinement; Multi-beam LIDAR; Calibration; Mobile mapping vehicle; Terrestrial mapping; Data adjustment; 621.366

Record DetailsSimilar RecordsGoogle PlusoneFacebookTwitterCiteULikeMendeleyreddit

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Nouira, H. (2017). Affinement de relev?s laser mobiles issus de LIDARs multi-couches : Refinement of mobile lasers scans coming from multi-beam Lidars. (Doctoral Dissertation). Paris Sciences et Lettres. Retrieved from http://www.theses.fr/2017PSLEM015

Chicago Manual of Style (16th Edition):

Nouira, Houssem. “Affinement de relev?s laser mobiles issus de LIDARs multi-couches : Refinement of mobile lasers scans coming from multi-beam Lidars.” 2017. Doctoral Dissertation, Paris Sciences et Lettres. Accessed February 16, 2019. http://www.theses.fr/2017PSLEM015.

MLA Handbook (7th Edition):

Nouira, Houssem. “Affinement de relev?s laser mobiles issus de LIDARs multi-couches : Refinement of mobile lasers scans coming from multi-beam Lidars.” 2017. Web. 16 Feb 2019.

Vancouver:

Nouira H. Affinement de relev?s laser mobiles issus de LIDARs multi-couches : Refinement of mobile lasers scans coming from multi-beam Lidars. [Internet] [Doctoral dissertation]. Paris Sciences et Lettres; 2017. [cited 2019 Feb 16]. Available from: http://www.theses.fr/2017PSLEM015.

Council of Science Editors:

Nouira H. Affinement de relev?s laser mobiles issus de LIDARs multi-couches : Refinement of mobile lasers scans coming from multi-beam Lidars. [Doctoral Dissertation]. Paris Sciences et Lettres; 2017. Available from: http://www.theses.fr/2017PSLEM015

.