subject:(Lidar sensor)

University of Toronto

1. Marr, Jordan. Unified Spatiotemporal Calibration of Egomotion Sensors and Planar Lidars in Arbitrary Environments.

Degree: 2018, University of Toronto

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This thesis develops an automatic spatiotemporal calibration routine for lidars and egomotion sensors that relaxes common requirements, such as overlapping sensor fields of view, and… (more)

Subjects/Keywords: Calibration; Camera; Lidar; Optimization; Robotics; Sensor; 0771

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APA (6^th Edition):

Marr, J. (2018). Unified Spatiotemporal Calibration of Egomotion Sensors and Planar Lidars in Arbitrary Environments. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/91670

Chicago Manual of Style (16^th Edition):

Marr, Jordan. “Unified Spatiotemporal Calibration of Egomotion Sensors and Planar Lidars in Arbitrary Environments.” 2018. Masters Thesis, University of Toronto. Accessed January 24, 2021. http://hdl.handle.net/1807/91670.

MLA Handbook (7^th Edition):

Marr, Jordan. “Unified Spatiotemporal Calibration of Egomotion Sensors and Planar Lidars in Arbitrary Environments.” 2018. Web. 24 Jan 2021.

Vancouver:

Marr J. Unified Spatiotemporal Calibration of Egomotion Sensors and Planar Lidars in Arbitrary Environments. [Internet] [Masters thesis]. University of Toronto; 2018. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/1807/91670.

Council of Science Editors:

Marr J. Unified Spatiotemporal Calibration of Egomotion Sensors and Planar Lidars in Arbitrary Environments. [Masters Thesis]. University of Toronto; 2018. Available from: http://hdl.handle.net/1807/91670

Delft University of Technology

2. GAO, Xinyu (author). Sensor Data Fusion of Lidar and Camera for Road User Detection.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:e310da67-98b2-4288-b656-15da36e3f12a

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Object detection is one of the most important research topics in autonomous vehicles. The detection systems of autonomous vehicles nowadays are mostly image-based ones which… (more)

Subjects/Keywords: 3D object detection; Lidar; Camera; sensor fusion

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APA (6^th Edition):

GAO, X. (. (2018). Sensor Data Fusion of Lidar and Camera for Road User Detection. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:e310da67-98b2-4288-b656-15da36e3f12a

Chicago Manual of Style (16^th Edition):

GAO, Xinyu (author). “Sensor Data Fusion of Lidar and Camera for Road User Detection.” 2018. Masters Thesis, Delft University of Technology. Accessed January 24, 2021. http://resolver.tudelft.nl/uuid:e310da67-98b2-4288-b656-15da36e3f12a.

MLA Handbook (7^th Edition):

GAO, Xinyu (author). “Sensor Data Fusion of Lidar and Camera for Road User Detection.” 2018. Web. 24 Jan 2021.

Vancouver:

GAO X(. Sensor Data Fusion of Lidar and Camera for Road User Detection. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 24]. Available from: http://resolver.tudelft.nl/uuid:e310da67-98b2-4288-b656-15da36e3f12a.

Council of Science Editors:

GAO X(. Sensor Data Fusion of Lidar and Camera for Road User Detection. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:e310da67-98b2-4288-b656-15da36e3f12a

University of Windsor

3. Farzadpour, Farsam. A new Measure for Optimization of Field Sensor Network with Application to LiDAR.

Degree: PhD, Electrical and Computer Engineering, 2018, University of Windsor

URL: https://scholar.uwindsor.ca/etd/7418

► This thesis proposes a solution to the problem of modeling and optimizing the field sensor network in terms of the coverage performance. The term field… (more)

▼ This thesis proposes a solution to the problem of modeling and optimizing the field sensor network in terms of the coverage performance. The term field sensor is referred to a class of sensors which can detect the regions in 2D/3D spaces through non-contact measurements. The most widely used field sensors include cameras, LiDAR, ultrasonic sensor, and RADAR, etc. The key challenge in the applications of field sensor networks, such as area coverage, is to develop an effective performance measure, which has to involve both sensor and environment parameters. The nature of space distribution in the case of the field sensor incurs a great deal of difficulties for such development and, hence, poses it as a very interesting research problem. Therefore, to tackle this problem, several attempts have been made in the literature. However, they have failed to address a comprehensive and applicable approach to distinctive types of field sensors (in 3D), as only coverage of a particular sensor is usually addressed at the time. In addition, no coverage model has been proposed yet for some types of field sensors such as LiDAR sensors. In this dissertation, a coverage model is obtained for the field sensors based on the transformation of sensor and task parameters into the sensor geometric model. By providing a mathematical description of the sensor’s sensing region, a performance measure is introduced which characterizes the closeness between a single sensor and target configurations. In this regard, the first contribution is developing an Infinity norm based measure which describes the target distance to the closure of the sensing region expressed by an area-based approach. The second contribution can be geometrically interpreted as mapping the sensor’s sensing region to an n-ball using a homeomorphism map and developing a performance measure. The third contribution is introducing the measurement principle and establishing the coverage model for the class of solid-state (flash) LiDAR sensors. The fourth contribution is point density analysis and developing the coverage model for the class of mechanical (prism rotating mechanism) LiDAR sensors. Finally, the effectiveness of the proposed coverage model is illustrated by simulations, experiments, and comparisons is carried out throughout the dissertation. This coverage model is a powerful tool as it applies to the variety of field sensors. Advisors/Committee Members: Chen, Xiang.

Subjects/Keywords: Camera; Coverage; Field sensor; Flash LiDAR; Mechanical LiDAR; Optimization

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APA (6^th Edition):

Farzadpour, F. (2018). A new Measure for Optimization of Field Sensor Network with Application to LiDAR. (Doctoral Dissertation). University of Windsor. Retrieved from https://scholar.uwindsor.ca/etd/7418

Chicago Manual of Style (16^th Edition):

Farzadpour, Farsam. “A new Measure for Optimization of Field Sensor Network with Application to LiDAR.” 2018. Doctoral Dissertation, University of Windsor. Accessed January 24, 2021. https://scholar.uwindsor.ca/etd/7418.

MLA Handbook (7^th Edition):

Farzadpour, Farsam. “A new Measure for Optimization of Field Sensor Network with Application to LiDAR.” 2018. Web. 24 Jan 2021.

Vancouver:

Farzadpour F. A new Measure for Optimization of Field Sensor Network with Application to LiDAR. [Internet] [Doctoral dissertation]. University of Windsor; 2018. [cited 2021 Jan 24]. Available from: https://scholar.uwindsor.ca/etd/7418.

Council of Science Editors:

Farzadpour F. A new Measure for Optimization of Field Sensor Network with Application to LiDAR. [Doctoral Dissertation]. University of Windsor; 2018. Available from: https://scholar.uwindsor.ca/etd/7418

Brno University of Technology

4. Krakovský, Jozef. Metody detekce změny polohy rehabilitující osoby - rešerše: Review of methods detecting the change of human posture during rehabilitation.

Degree: 2019, Brno University of Technology

URL: http://hdl.handle.net/11012/83747

► This thesis deals with detection of ineligible position change during rehabilitation of patients, that overcame fractures around elbow joint. Theoretically informs about devices that can… (more)

Subjects/Keywords: Kinect; zmena polohy; snímač; senzor; LIDAR; laser; Kinect; position change; detector; sensor; LIDAR; laser

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APA (6^th Edition):

Krakovský, J. (2019). Metody detekce změny polohy rehabilitující osoby - rešerše: Review of methods detecting the change of human posture during rehabilitation. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/83747

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Krakovský, Jozef. “Metody detekce změny polohy rehabilitující osoby - rešerše: Review of methods detecting the change of human posture during rehabilitation.” 2019. Thesis, Brno University of Technology. Accessed January 24, 2021. http://hdl.handle.net/11012/83747.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Krakovský, Jozef. “Metody detekce změny polohy rehabilitující osoby - rešerše: Review of methods detecting the change of human posture during rehabilitation.” 2019. Web. 24 Jan 2021.

Vancouver:

Krakovský J. Metody detekce změny polohy rehabilitující osoby - rešerše: Review of methods detecting the change of human posture during rehabilitation. [Internet] [Thesis]. Brno University of Technology; 2019. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/11012/83747.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Krakovský J. Metody detekce změny polohy rehabilitující osoby - rešerše: Review of methods detecting the change of human posture during rehabilitation. [Thesis]. Brno University of Technology; 2019. Available from: http://hdl.handle.net/11012/83747

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

5. Gomes, A. (author). Laser-Based Control of Rotary-Wing UAVs.

Degree: 2015, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:4bef5dc5-d6ef-4e4e-99db-90b7e44624f3

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Unmanned Aerial Vehicles (UAVs) present a high technological development rate nowadays. These vehicles can be used to perform dangerous and costly inspection procedures in structures… (more)

Subjects/Keywords: UAVs; LiDAR sensor; geometry fitting; attitude determination; Lyapunov stability; trajectory tracking

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APA (6^th Edition):

Gomes, A. (. (2015). Laser-Based Control of Rotary-Wing UAVs. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:4bef5dc5-d6ef-4e4e-99db-90b7e44624f3

Chicago Manual of Style (16^th Edition):

Gomes, A (author). “Laser-Based Control of Rotary-Wing UAVs.” 2015. Masters Thesis, Delft University of Technology. Accessed January 24, 2021. http://resolver.tudelft.nl/uuid:4bef5dc5-d6ef-4e4e-99db-90b7e44624f3.

MLA Handbook (7^th Edition):

Gomes, A (author). “Laser-Based Control of Rotary-Wing UAVs.” 2015. Web. 24 Jan 2021.

Vancouver:

Gomes A(. Laser-Based Control of Rotary-Wing UAVs. [Internet] [Masters thesis]. Delft University of Technology; 2015. [cited 2021 Jan 24]. Available from: http://resolver.tudelft.nl/uuid:4bef5dc5-d6ef-4e4e-99db-90b7e44624f3.

Council of Science Editors:

Gomes A(. Laser-Based Control of Rotary-Wing UAVs. [Masters Thesis]. Delft University of Technology; 2015. Available from: http://resolver.tudelft.nl/uuid:4bef5dc5-d6ef-4e4e-99db-90b7e44624f3

University of Windsor

6. Bondy, Bradford Scott. 3D LiDAR Point Cloud Processing Algorithms.

Degree: MA, Electrical and Computer Engineering, 2020, University of Windsor

URL: https://scholar.uwindsor.ca/etd/8295

► In the race for autonomous vehicles and advanced driver assistance systems (ADAS), the automotive industry has energetically pursued research in the area of sensor… (more)

▼ In the race for autonomous vehicles and advanced driver assistance systems (ADAS), the automotive industry has energetically pursued research in the area of sensor suites to achieve such technological feats. Commonly used autonomous and ADAS sensor suites include multiples of cameras, radio detection and ranging (RADAR), light detection and ranging (LiDAR), and ultrasonic sensors. Great interest has been generated in the use of LiDAR sensors and the value added in an automotive application. LiDAR sensors can be used to detect and track vehicles, pedestrians, cyclists, and surrounding objects. A LiDAR sensor operates by emitting light amplification by stimulated emission of radiation (LASER) beams and receiving the reflected LASER beam to acquire relevant distance information. LiDAR reflections are organized in a three-dimensional environment known as a point cloud. A major challenge in modern autonomous automotive research is to be able to process the dimensional environmental data in real time. The LiDAR sensor used in this research is the Velodyne HDL 32E, which provides nearly 700,000 data points per second. The large amount of data produced by a LiDAR sensor must be processed in a highly efficient way to be effective. This thesis provides an algorithm to process the LiDAR data from the sensors user datagram protocol (UDP) packet to output geometric shapes that can be further analyzed in a sensor suite or utilized for Bayesian tracking of objects. The algorithm can be divided into three stages: Stage One - UDP packet extraction; Stage Two - data clustering; and Stage Three - shape extraction. Stage One organizes the LiDAR data from a negative to a positive vertical angle during packet extraction so that subsequent steps can fully exploit the programming efficiencies. Stage Two utilizes an adaptive breakpoint detector (ABD) for clustering objects based on a Euclidean distance threshold in the point cloud. Stage Three classifies each cluster into a shape that is either a point, line, L-shape, or a polygon using principal component analysis and shape fitting algorithms that have been modified to take advantage of the pre-organized data from Stage One. The proposed algorithm was written in the C language and the runtime was tested on a two Windows equipped machines where the algorithm completed the processing, on average, sparing 30% of the time between UDP data packets sent from the HDL32E. In comparison to related research, this algorithm performed over seven hundred and thirty-seven times faster. Advisors/Committee Members: Mohammed Khalid.

Subjects/Keywords: ADAS; Autonomous; LiDAR; Point Cloud; sensor fusion; vehicle

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

APA (6^th Edition):

Bondy, B. S. (2020). 3D LiDAR Point Cloud Processing Algorithms. (Masters Thesis). University of Windsor. Retrieved from https://scholar.uwindsor.ca/etd/8295

Chicago Manual of Style (16^th Edition):

Bondy, Bradford Scott. “3D LiDAR Point Cloud Processing Algorithms.” 2020. Masters Thesis, University of Windsor. Accessed January 24, 2021. https://scholar.uwindsor.ca/etd/8295.

MLA Handbook (7^th Edition):

Bondy, Bradford Scott. “3D LiDAR Point Cloud Processing Algorithms.” 2020. Web. 24 Jan 2021.

Vancouver:

Bondy BS. 3D LiDAR Point Cloud Processing Algorithms. [Internet] [Masters thesis]. University of Windsor; 2020. [cited 2021 Jan 24]. Available from: https://scholar.uwindsor.ca/etd/8295.

Council of Science Editors:

Bondy BS. 3D LiDAR Point Cloud Processing Algorithms. [Masters Thesis]. University of Windsor; 2020. Available from: https://scholar.uwindsor.ca/etd/8295

University of Melbourne

7. GHANBARI PARMEHR, EBADAT. Automated alignment of multi-source photogrammetric data.

Degree: 2015, University of Melbourne

URL: http://hdl.handle.net/11343/55147

► The automatic registration of multi-source airborne and space-borne imaging and ranging data has generated much research interest in remote sensing and digital photogrammetry. This is… (more)

▼ The automatic registration of multi-source airborne and space-borne imaging and ranging data has generated much research interest in remote sensing and digital photogrammetry. This is driven by the increasing availability of large volumes of Earth observation data, and the need for automated integration of multi-sensor, multi-resolution data to generate redundant and complementary spatial information products for many applications, especially in feature extraction and building reconstruction. Conventional registration methods rely on physical correspondences and invariably fail in the registration of data acquired from different types of sensors. This research aims to develop a robust technology for registration of multi-source, multi-sensor data to facilitate improved data integration. The research explores statistical dependence between data. It investigates the joint probability density function of data sets to measure the predictability of one from the other, thus facilitating registration of remote sensing data collected using either the same or different types of sensors. Therefore, the concepts of statistical similarity such as Mutual Information (MI) are investigated as a foundation for the registration process. The inherently registered intensity and height information of Light Detection And Ranging (LiDAR) data has been exploited to improve the robustness of the similarity measures through the particular multivariable mutual information definition called Normalised Combined MI. It utilises both the elevation and intensity information of LiDAR data simultaneously for registering imagery to 3D LiDAR point clouds and improves the robustness and performance of statistical similarity to find the correct transformation of data sets. In addition, the local similarity measure, which relies on determining the similarity of only small parts of the data sets, called templates, enables the registration process to support a more complex transformation between the data sets. The computation cost is thus decreased, and the reliability of registration is improved through an overdetermined solution of the transformation parameters. In order to improve the relationship between the similarity value and the transformation, the appropriate parameters of the joint PDF, such as bin-size and smoothing kernel, have to be determined. This increases the robustness of registration through provision of a convergence surface of the similarity measure with less local maxima, which speeds up the optimisation process. The proposed registration approach has been applied to the registration of satellite and aerial imagery data, with different resolutions from 50cm to 5 cm, to LiDAR data with the densities ranging from 0.5-35 pts/m2. The experimental results obtained demonstrate that the alignment of optical imagery to 3D LiDAR point clouds via the improved intensity-based method can yield greater accuracy than that produced by conventional feature-based registration approaches.

Subjects/Keywords: automatic alignment; multi-sensor data; LiDAR; aerial image

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

APA (6^th Edition):

GHANBARI PARMEHR, E. (2015). Automated alignment of multi-source photogrammetric data. (Doctoral Dissertation). University of Melbourne. Retrieved from http://hdl.handle.net/11343/55147

Chicago Manual of Style (16^th Edition):

GHANBARI PARMEHR, EBADAT. “Automated alignment of multi-source photogrammetric data.” 2015. Doctoral Dissertation, University of Melbourne. Accessed January 24, 2021. http://hdl.handle.net/11343/55147.

MLA Handbook (7^th Edition):

GHANBARI PARMEHR, EBADAT. “Automated alignment of multi-source photogrammetric data.” 2015. Web. 24 Jan 2021.

Vancouver:

GHANBARI PARMEHR E. Automated alignment of multi-source photogrammetric data. [Internet] [Doctoral dissertation]. University of Melbourne; 2015. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/11343/55147.

Council of Science Editors:

GHANBARI PARMEHR E. Automated alignment of multi-source photogrammetric data. [Doctoral Dissertation]. University of Melbourne; 2015. Available from: http://hdl.handle.net/11343/55147

University of California – Santa Cruz

8. Daraeihajitooei, Mohammadhossein. Tightly-Coupled LiDAR and Camera for Autonomous Vehicles.

Degree: Electrical Engineering, 2018, University of California – Santa Cruz

URL: http://www.escholarship.org/uc/item/8p2873x4

► Autonomous driving has received remarkable attention and investment from both industry and academia over the past couple of years. Researchers from different fields are contributing… (more)

▼ Autonomous driving has received remarkable attention and investment from both industry and academia over the past couple of years. Researchers from different fields are contributing to solve various challenges towards fully autonomous cars, e.g. optics, light sensing, deep learning, statistics. A driver-less car, first and foremost, must be equipped with the right choice of complimentary sensors in order to measure the surroundings. Then it needs to process the measurements to understand the scene, perform path planning, and react to the environment. In this work, we focus on processing raw sensor measurements to extract meaningful physical or geometrical features like segments, velocity, depth, graphical relations between different segments, etc.In this dissertation, our primary focus is on leveraging the complimentary features of two automotive grade sensors: LiDAR and Camera. The goal is to break the scene into independently moving segments, reconstruct their surface, find inter-segment connections, and estimate their three-dimensional velocity. As the main contribution of this work, we combine measurements in LiDAR points and Camera pixels at the raw level. This is opposed to tracking-by-detection or high-level fusion where sensors are fused after object detection. We lay a graph-based approach to generate a set of three-dimensional superpixels (supersurfaces) that cover the whole environment. These supersurfaces are optimized according to connectivity features in both LiDAR and Camera space. At a higher level, the connections between neighboring supersurfaces are also modeled and considered in subsequent modules. We also develop an energy function that explicitly penalizes three-dimensional velocity vectors based on both image pixels (optical flow term) and LiDAR points (geometric distance term). This energy is further regularized to maintain edge-preserving temporal and spatial smoothness. This leads to tightly-coupled sensor fusion, and benefits from more robustness in velocity estimation. One important feature of this work is its independence from object detection, unlike many methods that rely on supervised learning to detect object instances. This feature makes our algorithm capable of handling unknown classes of objects. Another key characteristic of our fusion approach is the notion of adaptive \emph{processing resolution}. Objects, depending on their distance, are processed at different pyramid levels (and different resolutions) which eliminates redundant computations and still maintains desired estimation error bounds. Our prototyped experimental results show an improvement in velocity estimation error with respect to the state of the art. We also demonstrate the functionality of the overall algorithm by assembling all submodules into an efficient CUDA implementation. Several changes and adaptations are applied to make the algorithm optimized for running on GPU.

Subjects/Keywords: Electrical engineering; Computer science; Computer engineering; Autonomous Driving; Camera; LiDAR; Scene Uncerstanding; Sensor Fusion; Velocity

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APA (6^th Edition):

Daraeihajitooei, M. (2018). Tightly-Coupled LiDAR and Camera for Autonomous Vehicles. (Thesis). University of California – Santa Cruz. Retrieved from http://www.escholarship.org/uc/item/8p2873x4

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Daraeihajitooei, Mohammadhossein. “Tightly-Coupled LiDAR and Camera for Autonomous Vehicles.” 2018. Thesis, University of California – Santa Cruz. Accessed January 24, 2021. http://www.escholarship.org/uc/item/8p2873x4.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Daraeihajitooei, Mohammadhossein. “Tightly-Coupled LiDAR and Camera for Autonomous Vehicles.” 2018. Web. 24 Jan 2021.

Vancouver:

Daraeihajitooei M. Tightly-Coupled LiDAR and Camera for Autonomous Vehicles. [Internet] [Thesis]. University of California – Santa Cruz; 2018. [cited 2021 Jan 24]. Available from: http://www.escholarship.org/uc/item/8p2873x4.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Daraeihajitooei M. Tightly-Coupled LiDAR and Camera for Autonomous Vehicles. [Thesis]. University of California – Santa Cruz; 2018. Available from: http://www.escholarship.org/uc/item/8p2873x4

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Houston

9. -8293-3706. Active and Passive Sensor Fusion for Terrestrial Hyperspectral Image Shadow Detection and Restoration.

Degree: PhD, Geosensing Systems, 2016, University of Houston

URL: http://hdl.handle.net/10657/3170

► Acquisition of hyperspectral imagery (HSI) from cameras mounted on terrestrial platforms is a relatively recent development that enables spectral analysis of dominantly vertical structures such… (more)

▼ Acquisition of hyperspectral imagery (HSI) from cameras mounted on terrestrial platforms is a relatively recent development that enables spectral analysis of dominantly vertical structures such as geologic outcrops. Although solar shadowing is prevalent in terrestrial HSI due to the vertical scene geometry, automated shadow detection and restoration algorithms have not yet been applied to this technique. This dissertation investigates the fusion of terrestrial laser scanning (TLS) spatial information with terrestrial HSI for geometric shadow detection on a vertical outcrop and examines the contribution of radiometrically calibrated TLS intensity, which is resistant to the influence of solar shadowing, to HSI shadow restoration. The proposed method for shadow detection in the terrestrial HSI leverages an accurately georeferenced, high density point cloud acquired with a TLS sensor to geometrically solve for the presence of shadows in the fused HSI. In contrast to traditional methods applied to airborne imagery, the analysis requires a fully 3D mesh representation of the outcrop rather than a 2.5D surface model. The inclusion of radiometrically calibrated TLS intensity in several existing image shadow restoration techniques is examined, and a direct combination of the active TLS and passive HSI radiometric products proposed and evaluated. Qualitative assessment of the shadow detection results indicates pixel level accuracy, which is indirectly validated by shadow restoration improvements when sub-pixel shadow detection is used in lieu of single pixel detection. The inclusion of TLS intensity in existing shadow restoration algorithms was found to have a marginal positive influence on restoring shadow spectrum shape, while the proposed combination of TLS intensity with passive HSI spectra boosts restored shadow spectrum magnitude precision by up to 40%, and band correlation with respect to a truth image by up to 45% compared to existing methods. The findings demonstrate that sub-pixel shadow detection in terrestrial HSI can be achieved with geometric methods using standard TLS and HSI field collection practices, and the inclusion of TLS intensity can improve restored HSI spectral characteristics. Simulations incorporating multiple laser wavelengths suggest more robust and computationally efficient methods of combining active and passive spectral data for restoring shadow pixel spectra are possible. Advisors/Committee Members: Glennie, Craig L. (advisor), Shrestha, Ramesh L. (committee member), Lee, Hyongki (committee member), Khan, Shuhab D. (committee member), Parrish, Christopher E. (committee member).

Subjects/Keywords: LiDAR; Laser scanning; Terrestrial laser scanning (TLS); Hyperspectral imaging; Sensor fusion; Remote sensing

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APA (6^th Edition):

-8293-3706. (2016). Active and Passive Sensor Fusion for Terrestrial Hyperspectral Image Shadow Detection and Restoration. (Doctoral Dissertation). University of Houston. Retrieved from http://hdl.handle.net/10657/3170

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Chicago Manual of Style (16^th Edition):

-8293-3706. “Active and Passive Sensor Fusion for Terrestrial Hyperspectral Image Shadow Detection and Restoration.” 2016. Doctoral Dissertation, University of Houston. Accessed January 24, 2021. http://hdl.handle.net/10657/3170.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

MLA Handbook (7^th Edition):

-8293-3706. “Active and Passive Sensor Fusion for Terrestrial Hyperspectral Image Shadow Detection and Restoration.” 2016. Web. 24 Jan 2021.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Vancouver:

-8293-3706. Active and Passive Sensor Fusion for Terrestrial Hyperspectral Image Shadow Detection and Restoration. [Internet] [Doctoral dissertation]. University of Houston; 2016. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/10657/3170.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Council of Science Editors:

-8293-3706. Active and Passive Sensor Fusion for Terrestrial Hyperspectral Image Shadow Detection and Restoration. [Doctoral Dissertation]. University of Houston; 2016. Available from: http://hdl.handle.net/10657/3170

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

10. Nordin, Fredrik. Terrain sensor for semi active suspension in CV90.

Degree: Computer Science, 2017, Luleå University of Technology

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-64434

► 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… (more)

Subjects/Keywords: terrain sensor; cv90; slam; visual odometry; kinect; suspension; lidar; flir; lwir; Computer Engineering; Datorteknik

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APA (6^th Edition):

Nordin, F. (2017). Terrain sensor for semi active suspension in CV90. (Thesis). Luleå University of Technology. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-64434

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Nordin, Fredrik. “Terrain sensor for semi active suspension in CV90.” 2017. Thesis, Luleå University of Technology. Accessed January 24, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-64434.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Nordin, Fredrik. “Terrain sensor for semi active suspension in CV90.” 2017. Web. 24 Jan 2021.

Vancouver:

Nordin F. Terrain sensor for semi active suspension in CV90. [Internet] [Thesis]. Luleå University of Technology; 2017. [cited 2021 Jan 24]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-64434.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Nordin F. Terrain sensor for semi active suspension in CV90. [Thesis]. Luleå University of Technology; 2017. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-64434

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

KTH

11. Lin, Ismael. Combining dense short range sensors and sparse long range sensors for mapping.

Degree: Electrical Engineering and Computer Science (EECS), 2018, KTH

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223572

►

Mapping is one of the main components of autonomous robots, and consist in the construction of a model of their environment based on the… (more)

Subjects/Keywords: 3D Mapping; Kinect sensor; LiDAR; SLAM; Electrical Engineering, Electronic Engineering, Information Engineering; Elektroteknik och elektronik

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APA (6^th Edition):

Lin, I. (2018). Combining dense short range sensors and sparse long range sensors for mapping. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223572

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Lin, Ismael. “Combining dense short range sensors and sparse long range sensors for mapping.” 2018. Thesis, KTH. Accessed January 24, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223572.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Lin, Ismael. “Combining dense short range sensors and sparse long range sensors for mapping.” 2018. Web. 24 Jan 2021.

Vancouver:

Lin I. Combining dense short range sensors and sparse long range sensors for mapping. [Internet] [Thesis]. KTH; 2018. [cited 2021 Jan 24]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223572.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Lin I. Combining dense short range sensors and sparse long range sensors for mapping. [Thesis]. KTH; 2018. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223572

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

12. van der Molen, Hessel (author). Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:509d12ba-7224-4e24-adff-d15059422319

► Many robotic systems rely on laser ranging sensors to navigate and map their environment. As robots are getting more advanced, smaller and cheaper, their sensors… (more)

Subjects/Keywords: Triangulation; Distance Measurement; Solid-State Sensor; Line-Laser; Modelling; Optimisation; Low-Cost; LiDAR

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APA (6^th Edition):

van der Molen, H. (. (2017). Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:509d12ba-7224-4e24-adff-d15059422319

Chicago Manual of Style (16^th Edition):

van der Molen, Hessel (author). “Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach.” 2017. Masters Thesis, Delft University of Technology. Accessed January 24, 2021. http://resolver.tudelft.nl/uuid:509d12ba-7224-4e24-adff-d15059422319.

MLA Handbook (7^th Edition):

van der Molen, Hessel (author). “Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach.” 2017. Web. 24 Jan 2021.

Vancouver:

van der Molen H(. Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 24]. Available from: http://resolver.tudelft.nl/uuid:509d12ba-7224-4e24-adff-d15059422319.

Council of Science Editors:

van der Molen H(. Development of a Low-Cost, Solid-State, Line-Laser Distance Sensor: An Integrated Approach. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:509d12ba-7224-4e24-adff-d15059422319

13. von Nordenskjöld, Ari. Ray Tracing for Sensor Simulation using Parallel Functional Programming .

Degree: Chalmers tekniska högskola / Institutionen för data och informationsteknik, 2020, Chalmers University of Technology

URL: http://hdl.handle.net/20.500.12380/302022

► In the modern automotive industry, cars are tested in virtual environments in order to save time and money. Sensors are important components of modern cars… (more)

Subjects/Keywords: physically based ray tracing; parallel functional programming; sensor simulation; LIDAR; camera; Futhark

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APA (6^th Edition):

von Nordenskjöld, A. (2020). Ray Tracing for Sensor Simulation using Parallel Functional Programming . (Thesis). Chalmers University of Technology. Retrieved from http://hdl.handle.net/20.500.12380/302022

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

von Nordenskjöld, Ari. “Ray Tracing for Sensor Simulation using Parallel Functional Programming .” 2020. Thesis, Chalmers University of Technology. Accessed January 24, 2021. http://hdl.handle.net/20.500.12380/302022.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

von Nordenskjöld, Ari. “Ray Tracing for Sensor Simulation using Parallel Functional Programming .” 2020. Web. 24 Jan 2021.

Vancouver:

von Nordenskjöld A. Ray Tracing for Sensor Simulation using Parallel Functional Programming . [Internet] [Thesis]. Chalmers University of Technology; 2020. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/20.500.12380/302022.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

von Nordenskjöld A. Ray Tracing for Sensor Simulation using Parallel Functional Programming . [Thesis]. Chalmers University of Technology; 2020. Available from: http://hdl.handle.net/20.500.12380/302022

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

14. Karlsson, Fredrik. Development of a LiDAR Cleaning System for Autonomous Trucks .

Degree: Chalmers tekniska högskola / Institutionen för industri- och materialvetenskap, 2019, Chalmers University of Technology

URL: http://hdl.handle.net/20.500.12380/300177

► Abstract Autonomous driving is emerging as the future of transportation. For autonomous driving to be safe and reliable the perception sensors need sufficient vision in… (more)

▼ Abstract Autonomous driving is emerging as the future of transportation. For autonomous driving to be safe and reliable the perception sensors need sufficient vision in sometimes challenging operating conditions including dust, dirt and moisture. LiDAR perception sensors used in certain autonomous driving solutions require both a clean and dry sensor screen. The purpose of this thesis is that through developing and testing of concepts, provide Volvo with both knowledge and a baseline design to help with future product development of sensor cleaning systems in similar applications. The developed concept for an improved cleaning system for the 2D-LiDAR sensors mounted to autonomous Volvo trucks are used in a mining operation. Emphasis in the concept is on the resource efficiency of the fluid available on the truck during operation. A cleaning head placed above the LiDAR does not compete for space with other systems around the LiDAR, allowing for greater design freedom. The prototypes indicate high potential in cleaning performance and as they were 3D printed in PA 12, proved a promising manufacturing method allowing complex geometries. The design combined with 3D printing also enables flexibility, allowing quick design changes to conform to different LiDAR shapes. Comparative testing against the currently implemented cleaning system is done in this thesis with dirt scenarios from intended to use-cases. The result provides clear evidence of improvements against the current solution. Following an exploratory design and testing phase, it was concluded that great improvement in resource efficiency was achieved through the use of fluid specific nozzles, drastically reducing the fluid consumption of previous cleaning systems used by Volvo. Testing also gave evidence of existing knowledge gaps due to the novelty of the LiDAR cleaning task. This convinced the thesis workers that more research is needed and that standardized test methods need to be established to facilitate comparability between cleaning systems developed and tested in the future.

Subjects/Keywords: Autonomous Driving, Autonomous Trucks, LiDAR, Sensor, Cleaning,; Nozzle, 3D printing, Product Development

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

APA (6^th Edition):

Karlsson, F. (2019). Development of a LiDAR Cleaning System for Autonomous Trucks . (Thesis). Chalmers University of Technology. Retrieved from http://hdl.handle.net/20.500.12380/300177

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Karlsson, Fredrik. “Development of a LiDAR Cleaning System for Autonomous Trucks .” 2019. Thesis, Chalmers University of Technology. Accessed January 24, 2021. http://hdl.handle.net/20.500.12380/300177.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Karlsson, Fredrik. “Development of a LiDAR Cleaning System for Autonomous Trucks .” 2019. Web. 24 Jan 2021.

Vancouver:

Karlsson F. Development of a LiDAR Cleaning System for Autonomous Trucks . [Internet] [Thesis]. Chalmers University of Technology; 2019. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/20.500.12380/300177.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Karlsson F. Development of a LiDAR Cleaning System for Autonomous Trucks . [Thesis]. Chalmers University of Technology; 2019. Available from: http://hdl.handle.net/20.500.12380/300177

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

15. Starr, Joseph Wesley. Rangefinding in Fire Smoke Environments.

Degree: PhD, Mechanical Engineering, 2016, Virginia Tech

URL: http://hdl.handle.net/10919/73780

► The field of robotics has advanced to the point where robots are being developed for use in fire environments to perform firefighting tasks. These environments… (more)

▼ The field of robotics has advanced to the point where robots are being developed for use in fire environments to perform firefighting tasks. These environments contain varying levels of fire and smoke, both of which obstruct robotic perception sensors. In order to effectively use robots in fire environments, the issue of perception in the presence of smoke and fire needs to be addressed. The goal of this research was to address the problem of perception, specifically rangefinding, in fire smoke environments. A series of tests were performed in fire smoke filled environments to evaluate the performance of different commercial rangefinders and cameras as well as a long-wavelength infrared (LWIR) stereo vision system developed in this research. The smoke was varied from dense, low temperature smoke to light, high temperature smoke for evaluation in a range of conditions. Through small-scale experiments on eleven different sensors, radar and LWIR cameras outperformed other perception sensors within both smoke environments. A LWIR stereo vision system was developed for rangefinding and compared to radar, LIDAR, and visual stereo vision in large-scale testing, demonstrating the ability of LWIR stereo vision to rangefind in dense smoke when LIDAR and visual stereo vision fail. LWIR stereo vision was further developed for improved rangefinding in fire environments. Intensity misalignment between cameras and stereo image filtering were addressed quantitatively. Tests were performed with approximately isothermal scenes and thermally diverse scenes to select subsystem methods. In addition, the effects of image filtering on feature distortion were assessed. Rangefinding improvements were quantified with comparisons to ground truth data. Improved perception in varying levels of clear and smoke conditions was developed through sensor fusion of LWIR stereo vision and a spinning LIDAR. The data were fused in a multi-resolution 3D voxel domain using evidential theory to model occupied and free space states. A heuristic method was presented to separate significantly attenuated LIDAR returns from low-attenuation returns. Sensor models were developed for both return types and LWIR stereo vision. The fusion system was tested in a range of conditions to demonstrate its ability for improved performance over individual sensor use in fire environments. Advisors/Committee Members: Leonessa, Alexander (committeechair), Lattimer, Brian Y. (committeechair), Wicks, Alfred L. (committee member), Stilwell, Daniel J. (committee member), Lee, Daniel D. (committee member).

Subjects/Keywords: Long-wavelength infrared; thermal infrared; stereo vision; fire; smoke; sensor fusion; LIDAR

11 more images…

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

APA (6^th Edition):

Starr, J. W. (2016). Rangefinding in Fire Smoke Environments. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/73780

Chicago Manual of Style (16^th Edition):

Starr, Joseph Wesley. “Rangefinding in Fire Smoke Environments.” 2016. Doctoral Dissertation, Virginia Tech. Accessed January 24, 2021. http://hdl.handle.net/10919/73780.

MLA Handbook (7^th Edition):

Starr, Joseph Wesley. “Rangefinding in Fire Smoke Environments.” 2016. Web. 24 Jan 2021.

Vancouver:

Starr JW. Rangefinding in Fire Smoke Environments. [Internet] [Doctoral dissertation]. Virginia Tech; 2016. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/10919/73780.

Council of Science Editors:

Starr JW. Rangefinding in Fire Smoke Environments. [Doctoral Dissertation]. Virginia Tech; 2016. Available from: http://hdl.handle.net/10919/73780

New Jersey Institute of Technology

16. Jagirdar, Ravi. Development and evaluation of low cost 2-d lidar based traffic data collection methods.

Degree: PhD, Civil and Environmental Engineering, 2020, New Jersey Institute of Technology

URL: https://digitalcommons.njit.edu/dissertations/1477

► Traffic data collection is one of the essential components of a transportation planning exercise. Granular traffic data such as volume count, vehicle classification, speed… (more)

▼ Traffic data collection is one of the essential components of a transportation planning exercise. Granular traffic data such as volume count, vehicle classification, speed measurement, and occupancy, allows managing transportation systems more effectively. For effective traffic operation and management, authorities require deploying many sensors across the network. Moreover, the ascending efforts to achieve smart transportation aspects put immense pressure on planning authorities to deploy more sensors to cover an extensive network. This research focuses on the development and evaluation of inexpensive data collection methodology by using two-dimensional (2-D) Light Detection and Ranging (LiDAR) technology. LiDAR is adopted since it is economical and easily accessible technology. Moreover, its 360-degree visibility and accurate distance information make it more reliable. To collect traffic count data, the proposed method integrates a Continuous Wavelet Transform (CWT), and Support Vector Machine (SVM) into a single framework. Proof-of-Concept (POC) test is conducted in three different places in Newark, New Jersey to examine the performance of the proposed method. The POC test results demonstrate that the proposed method achieves acceptable performances, resulting in 83% ~ 94% accuracy. It is discovered that the proposed method's accuracy is affected by the color of the exterior surface of a vehicle since some colored surfaces do not produce enough reflective rays. It is noticed that the blue and black colors are less reflective, while white-colored surfaces produce high reflective rays. A methodology is proposed that comprises K-means clustering, inverse sensor model, and Kalman filter to obtain trajectories of the vehicles at the intersections. The primary purpose of vehicle detection and tracking is to obtain the turning movement counts at an intersection. A K-means clustering is an unsupervised machine learning technique that clusters the data into different groups by analyzing the smallest mean of a data point from the centroid. The ultimate objective of applying K-mean clustering is to identify the difference between pedestrians and vehicles. An inverse sensor model is a state model of occupancy grid mapping that localizes the detected vehicles on the grid map. A constant velocity model based Kalman filter is defined to track the trajectory of the vehicles. The data are collected from two intersections located in Newark, New Jersey, to study the accuracy of the proposed method. The results show that the proposed method has an average accuracy of 83.75%. Furthermore, the obtained R-squared value for localization of the vehicles on the grid map is ranging between 0.87 to 0.89. Furthermore, a primary cost comparison is made to study the cost efficiency of the developed methodology. The cost comparison shows that the proposed methodology based on 2-D LiDAR technology can achieve acceptable accuracy at a low price and be considered a smart city concept to conduct extensive scale data… Advisors/Committee Members: Joyoung Lee, I-Jy Steven Chien, Janice Rhoda Daniel.

Subjects/Keywords: Inverse sensor model; Kalman filter; LiDAR; Traffic counts; Turning movement counts; Transportation Engineering

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

APA (6^th Edition):

Jagirdar, R. (2020). Development and evaluation of low cost 2-d lidar based traffic data collection methods. (Doctoral Dissertation). New Jersey Institute of Technology. Retrieved from https://digitalcommons.njit.edu/dissertations/1477

Chicago Manual of Style (16^th Edition):

Jagirdar, Ravi. “Development and evaluation of low cost 2-d lidar based traffic data collection methods.” 2020. Doctoral Dissertation, New Jersey Institute of Technology. Accessed January 24, 2021. https://digitalcommons.njit.edu/dissertations/1477.

MLA Handbook (7^th Edition):

Jagirdar, Ravi. “Development and evaluation of low cost 2-d lidar based traffic data collection methods.” 2020. Web. 24 Jan 2021.

Vancouver:

Jagirdar R. Development and evaluation of low cost 2-d lidar based traffic data collection methods. [Internet] [Doctoral dissertation]. New Jersey Institute of Technology; 2020. [cited 2021 Jan 24]. Available from: https://digitalcommons.njit.edu/dissertations/1477.

Council of Science Editors:

Jagirdar R. Development and evaluation of low cost 2-d lidar based traffic data collection methods. [Doctoral Dissertation]. New Jersey Institute of Technology; 2020. Available from: https://digitalcommons.njit.edu/dissertations/1477

17. Vahid Roudsari, Mahan. LiDAR Object Detection and - Sensor Fusion in Simulation Environments Sensor modelling towards advancements in Real2Sim - Sim2Real .

Degree: Chalmers tekniska högskola / Institutionen för data och informationsteknik, 2020, Chalmers University of Technology

URL: http://hdl.handle.net/20.500.12380/301924

► In the world of autonomous driving the environment perception is of the outmost importance. Light detection and ranging(LiDAR) data is one of the most common… (more)

Subjects/Keywords: Sensor modelling; LiDAR; Sensor data visualization; Velodyne point; Bounding box; Autonomous driving; ROS; RVIZ; Deep neural network

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APA (6^th Edition):

Vahid Roudsari, M. (2020). LiDAR Object Detection and - Sensor Fusion in Simulation Environments Sensor modelling towards advancements in Real2Sim - Sim2Real . (Thesis). Chalmers University of Technology. Retrieved from http://hdl.handle.net/20.500.12380/301924

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Vahid Roudsari, Mahan. “LiDAR Object Detection and - Sensor Fusion in Simulation Environments Sensor modelling towards advancements in Real2Sim - Sim2Real .” 2020. Thesis, Chalmers University of Technology. Accessed January 24, 2021. http://hdl.handle.net/20.500.12380/301924.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Vahid Roudsari, Mahan. “LiDAR Object Detection and - Sensor Fusion in Simulation Environments Sensor modelling towards advancements in Real2Sim - Sim2Real .” 2020. Web. 24 Jan 2021.

Vancouver:

Vahid Roudsari M. LiDAR Object Detection and - Sensor Fusion in Simulation Environments Sensor modelling towards advancements in Real2Sim - Sim2Real . [Internet] [Thesis]. Chalmers University of Technology; 2020. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/20.500.12380/301924.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Vahid Roudsari M. LiDAR Object Detection and - Sensor Fusion in Simulation Environments Sensor modelling towards advancements in Real2Sim - Sim2Real . [Thesis]. Chalmers University of Technology; 2020. Available from: http://hdl.handle.net/20.500.12380/301924

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Illinois – Urbana-Champaign

18. Shetty, Akshay Prabhakar. GPS-LiDAR sensor fusion aided by 3D city models for UAVs.

Degree: MS, Aerospace Engineering, 2017, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/97501

► Recently, there has been an increase in outdoor applications for small-scale Unmanned Aerial Vehicles (UAVs), such as 3D modelling, filming, surveillance, and search and rescue.… (more)

▼ Recently, there has been an increase in outdoor applications for small-scale Unmanned Aerial Vehicles (UAVs), such as 3D modelling, filming, surveillance, and search and rescue. To perform these tasks safely and reliably, a continuous and accurate estimate of the UAVs’ positions is needed. Global Positioning System (GPS) receivers are commonly used for this purpose. However, navigating in urban areas using only GPS is challenging, since satellite signals might be reflected or blocked by buildings, resulting in multipath errors or non-line-of-sight (NLOS) situations. In such cases, additional on-board sensors are desirable to improve global positioning of the UAV. Light Detection and Ranging (LiDAR), one such sensor, provides a real-time point cloud of its surroundings. In a dense urban environment, LiDAR is able to detect a large number of features of surrounding structures, such as buildings, as opposed to in an open-sky environment. This characteristic of LiDAR complements GPS, which is accurate in open-sky environments, but may suffer large errors in urban areas. To fuse GPS and LiDAR measurements, Kalman Filtering and its variations are commonly used. However, it is important, yet challenging, to accurately characterize the error covariance of the sensor measurements. In this thesis, we propose a GPS-LiDAR fusion technique with a novel method for efficiently modelling the error covariance in position measurements based on LiDAR point clouds. For GPS measurements, we eliminate NLOS satellites and model the covariance based on the measurement signal-to-noise ratio (SNR) values. We use the LiDAR point clouds in two ways: to estimate incremental motion by matching consecutive point clouds; and, to estimate global pose by matching with a 3D city model. We aim to characterize the error covariance matrices in these two aspects as a function of the distribution of features in the LiDAR point cloud. To estimate the incremental motion between two consecutive LiDAR point clouds, we use the Iterative Closest Point (ICP) algorithm. We perform simulations in different environments to showcase the dependence of ICP on features in the point cloud. While navigating in urban areas, we expect the LiDAR to detect structured objects, such as buildings, which are primarily composed of surfaces and edges. Thus, we develop an efficient way for modelling the error covariance in the estimated incremental position based on each surface and edge feature point in the point cloud. A surface point helps to estimate motion of the LiDAR perpendicular to the surface, while an edge point helps to estimate motion of the LiDAR perpendicular to the edge. We treat each feature point independently and combine their individual error covariance to obtain a total error covariance ellipsoid for the estimated incremental position. For our 3D city model, we use elevation data of the State of Illinois available online and combine it with building information extracted from OpenStreetMap, a crowd-sourced mapping platform. We again use the ICP… Advisors/Committee Members: Gao, Grace Xingxin (advisor).

Subjects/Keywords: Global positioning system (GPS); Light detection and ranging (LiDAR); Unmanned aerial vehicles; Sensor fusion; Outdoor navigation; Light detection and ranging (LiDAR) covariance; Iterative closest point

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APA (6^th Edition):

Shetty, A. P. (2017). GPS-LiDAR sensor fusion aided by 3D city models for UAVs. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/97501

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Shetty, Akshay Prabhakar. “GPS-LiDAR sensor fusion aided by 3D city models for UAVs.” 2017. Thesis, University of Illinois – Urbana-Champaign. Accessed January 24, 2021. http://hdl.handle.net/2142/97501.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Shetty, Akshay Prabhakar. “GPS-LiDAR sensor fusion aided by 3D city models for UAVs.” 2017. Web. 24 Jan 2021.

Vancouver:

Shetty AP. GPS-LiDAR sensor fusion aided by 3D city models for UAVs. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2017. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/2142/97501.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Shetty AP. GPS-LiDAR sensor fusion aided by 3D city models for UAVs. [Thesis]. University of Illinois – Urbana-Champaign; 2017. Available from: http://hdl.handle.net/2142/97501

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Queensland University of Technology

19. Taylor, James E. Lidar heat map based channel sounding for complex wireless environments.

Degree: 2016, Queensland University of Technology

URL: http://eprints.qut.edu.au/93809/

► This thesis is a development of a methodology to predict the radio transmitter signal attenuation, via vertical density profiling of digitised objects, through the use… (more)

Subjects/Keywords: LiDaR; Wireless sensor network; WSN; Network deployment methods; RSSI; Static network deployment; Remote sensing, Heat map; RF signal loss

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APA (6^th Edition):

Taylor, J. E. (2016). Lidar heat map based channel sounding for complex wireless environments. (Thesis). Queensland University of Technology. Retrieved from http://eprints.qut.edu.au/93809/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Taylor, James E. “Lidar heat map based channel sounding for complex wireless environments.” 2016. Thesis, Queensland University of Technology. Accessed January 24, 2021. http://eprints.qut.edu.au/93809/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Taylor, James E. “Lidar heat map based channel sounding for complex wireless environments.” 2016. Web. 24 Jan 2021.

Vancouver:

Taylor JE. Lidar heat map based channel sounding for complex wireless environments. [Internet] [Thesis]. Queensland University of Technology; 2016. [cited 2021 Jan 24]. Available from: http://eprints.qut.edu.au/93809/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Taylor JE. Lidar heat map based channel sounding for complex wireless environments. [Thesis]. Queensland University of Technology; 2016. Available from: http://eprints.qut.edu.au/93809/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Queens University

20. Aboutaleb, Ahmed. Multi-Sensor Based Land Vehicles’ Positioning in Challenging GNSS Environments .

Degree: Electrical and Computer Engineering, Queens University

URL: http://hdl.handle.net/1974/27839

► The car industry has a growing demand for reliable, continuous, and accurate positioning information for various applications, including routing to a specific destination, asset tracking,… (more)

▼ The car industry has a growing demand for reliable, continuous, and accurate positioning information for various applications, including routing to a specific destination, asset tracking, and, eventually future self-driving. Global navigation satellite system (GNSS) receivers have been widely used for this purpose. However, adequate GNSS positioning accuracy cannot be guaranteed in all environments due to possible satellite signal blockage, poor satellite geometry, and multipath in urban environments and downtown cores. The technological advances and low cost of micro-electro-mechanical system (MEMS) – based inertial sensors (accelerometers and gyroscopes) enabled their use inside land vehicles for various reasons, including the integration with GNSS receivers to provide positioning information that can bridge GNSS outages in challenging GNSS environments. An optimal estimation technique, such as the Kalman filter, is used to integrate the positioning solution from both the GNSS receiver and the inertial sensors. However, in dense urban areas and downtown cores where GNSS receivers may incur prolonged outages, the integrated positioning solution may become prone to rapid drift resulting in substantial position errors. Therefore, it is becoming necessary to include other sensors and systems that can be available in future land vehicles to integrate with both the GNSS receivers and inertial sensors to enhance the positioning performance in such challenging environments. The aim of this research is to design and examine the performance of a multi-sensor integrated positioning system that fuses the GNSS receiver data with not only inertial sensors but also with the three-dimensional point cloud of onboard light detection and ranging (LiDAR) system. In this thesis, a comprehensive LiDAR processing and odometry method is developed to provide a continuous and accurate positioning solution, even in challenging GNSS environments. A multi-sensor fusion based on extended Kalman filtering is also developed to integrate the LiDAR positioning information with both GNSS and inertial sensors and utilize the LiDAR updates to limit the drift in the positioning solution, even in challenging or completely denied GNSS environment. The performance of the proposed multi-sensor positioning solution is examined using several road test trajectories in both Kingston and Toronto downtown areas involving different vehicle dynamics and driving scenarios. This thesis discusses the merits and limitations of the proposed method and gives recommendations for future research.

Subjects/Keywords: Integrated Positioning ; Multi-Sensor Fusion ; LiDAR Odometry

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

APA (6^th Edition):

Aboutaleb, A. (n.d.). Multi-Sensor Based Land Vehicles’ Positioning in Challenging GNSS Environments . (Thesis). Queens University. Retrieved from http://hdl.handle.net/1974/27839

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Aboutaleb, Ahmed. “Multi-Sensor Based Land Vehicles’ Positioning in Challenging GNSS Environments .” Thesis, Queens University. Accessed January 24, 2021. http://hdl.handle.net/1974/27839.

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Aboutaleb, Ahmed. “Multi-Sensor Based Land Vehicles’ Positioning in Challenging GNSS Environments .” Web. 24 Jan 2021.

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Vancouver:

Aboutaleb A. Multi-Sensor Based Land Vehicles’ Positioning in Challenging GNSS Environments . [Internet] [Thesis]. Queens University; [cited 2021 Jan 24]. Available from: http://hdl.handle.net/1974/27839.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

Council of Science Editors:

Aboutaleb A. Multi-Sensor Based Land Vehicles’ Positioning in Challenging GNSS Environments . [Thesis]. Queens University; Available from: http://hdl.handle.net/1974/27839

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

York University

21. Leslar, Michael David. Improvement of the Geospatial Accuracy of Mobile Terrestrial LiDAR Data.

Degree: PhD, Earth & Space Science, 2017, York University

URL: http://hdl.handle.net/10315/33467

► Many applications, such as topographic surveying for transportation engineering, have specific high accuracy requirements which MTL may be able to achieve under specific circumstances. Since… (more)

▼ Many applications, such as topographic surveying for transportation engineering, have specific high accuracy requirements which MTL may be able to achieve under specific circumstances. Since high rate, immersive (360 FOV), MTL is a relatively new device for the collection and extraction of survey data; the understanding and correction of errors within such systems is under researched. Therefore, the goal of the work presented here is to quantify the geospatial accuracy of MTL data and improve the quality of MTL data products. Quantification of the geospatial accuracy of MTL systems was accomplished through the use of residual analysis, error propagation and conditional variance analysis. Real data from two MTL systems was analyzed using these methods and it was found that the actual errors exceeded the manufacturers estimates of system accuracy by over 10mm. Conditional variance analysis on these systems has shown that the contribution by the interactions among the measured parameters to the variances of the points in MTL point clouds is insignificant. The sizes of the variances for the measurements used to produce a point are the primary sources of error in the output point cloud. Improvement of the geospatial accuracy of MTL data products was accomplished by developing methods for the simultaneous multi-sensor calibration of the systems boresight angles and lever arm offsets, zero error calibration, temperature correction, and both spatial and temporal outlier detection. Evaluation of the effectiveness of these techniques was accomplished through the use of two test cases, employing real MTL data. Test case 1 showed that the residuals between a control field and the MTL point cloud were reduced by 4.4cm for points located on both horizontal and vertical target surfaces. Similarly, test case 2 showed a reduction in the residuals between control points and MTL data of 2~3cm on horizontal surfaces and 1~2cm on vertical surfaces. The most accurate point cloud produced through the use of these calibration and filtering techniques occurred in test case 1 (27mm 26mm). This result is still not accurate enough for certain high accuracy applications such as topographic surveying for transportation engineering (20mm 10mm). Advisors/Committee Members: Wang, Jian-Guo (advisor), Hu, Baoxin (advisor).

Subjects/Keywords: Civil engineering; Mobile Terrestrial LiDAR; Error Analysis; Sensor Calibration; Zero Error; Temperature Drift; Boresight and Lever Arm; Outiler Detection

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

APA (6^th Edition):

Leslar, M. D. (2017). Improvement of the Geospatial Accuracy of Mobile Terrestrial LiDAR Data. (Doctoral Dissertation). York University. Retrieved from http://hdl.handle.net/10315/33467

Chicago Manual of Style (16^th Edition):

Leslar, Michael David. “Improvement of the Geospatial Accuracy of Mobile Terrestrial LiDAR Data.” 2017. Doctoral Dissertation, York University. Accessed January 24, 2021. http://hdl.handle.net/10315/33467.

MLA Handbook (7^th Edition):

Leslar, Michael David. “Improvement of the Geospatial Accuracy of Mobile Terrestrial LiDAR Data.” 2017. Web. 24 Jan 2021.

Vancouver:

Leslar MD. Improvement of the Geospatial Accuracy of Mobile Terrestrial LiDAR Data. [Internet] [Doctoral dissertation]. York University; 2017. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/10315/33467.

Council of Science Editors:

Leslar MD. Improvement of the Geospatial Accuracy of Mobile Terrestrial LiDAR Data. [Doctoral Dissertation]. York University; 2017. Available from: http://hdl.handle.net/10315/33467

KTH

22. Henriksson, Tomas. Driver Assistance Systemswith focus onAutomatic Emergency Brake.

Degree: Vehicle Dynamics, 2011, KTH

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-121306

► This thesis work aims at performing a survey of those technologies generally called DriverAssistance Systems (DAS). This thesis work focuses on gathering information in… (more)

Subjects/Keywords: driver assistance systems; collision mitigation; collision warning; accident statistics; automatic emergency brake; sensor; radar; lidar; ultrasonic; image; active safety

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APA (6^th Edition):

Henriksson, T. (2011). Driver Assistance Systemswith focus onAutomatic Emergency Brake. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-121306

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Henriksson, Tomas. “Driver Assistance Systemswith focus onAutomatic Emergency Brake.” 2011. Thesis, KTH. Accessed January 24, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-121306.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Henriksson, Tomas. “Driver Assistance Systemswith focus onAutomatic Emergency Brake.” 2011. Web. 24 Jan 2021.

Vancouver:

Henriksson T. Driver Assistance Systemswith focus onAutomatic Emergency Brake. [Internet] [Thesis]. KTH; 2011. [cited 2021 Jan 24]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-121306.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Henriksson T. Driver Assistance Systemswith focus onAutomatic Emergency Brake. [Thesis]. KTH; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-121306

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

23. LUO SHAOBO. THE SYSTEM ARCHITECTURE AND METHODOLOGY FOR LIDAR AND CAMERA FUSION.

Degree: 2016, National University of Singapore

URL: http://scholarbank.nus.edu.sg/handle/10635/133161

Subjects/Keywords: ADAS; CNN; LiDAR; Camera; Sensor Fusion; Object Detection

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APA (6^th Edition):

SHAOBO, L. (2016). THE SYSTEM ARCHITECTURE AND METHODOLOGY FOR LIDAR AND CAMERA FUSION. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/133161

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

SHAOBO, LUO. “THE SYSTEM ARCHITECTURE AND METHODOLOGY FOR LIDAR AND CAMERA FUSION.” 2016. Thesis, National University of Singapore. Accessed January 24, 2021. http://scholarbank.nus.edu.sg/handle/10635/133161.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

SHAOBO, LUO. “THE SYSTEM ARCHITECTURE AND METHODOLOGY FOR LIDAR AND CAMERA FUSION.” 2016. Web. 24 Jan 2021.

Vancouver:

SHAOBO L. THE SYSTEM ARCHITECTURE AND METHODOLOGY FOR LIDAR AND CAMERA FUSION. [Internet] [Thesis]. National University of Singapore; 2016. [cited 2021 Jan 24]. Available from: http://scholarbank.nus.edu.sg/handle/10635/133161.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

SHAOBO L. THE SYSTEM ARCHITECTURE AND METHODOLOGY FOR LIDAR AND CAMERA FUSION. [Thesis]. National University of Singapore; 2016. Available from: http://scholarbank.nus.edu.sg/handle/10635/133161

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

24. Leroux, Boris. Fusion de données LiDAR et photographiques pour le géoréférencement direct d’un lever topographique par micro-drone aérien : LiDAR and optical data fusion for direct georeferencing of UAV mapping survey.

Degree: Docteur es, Génie civil, 2019, Le Mans

URL: http://www.theses.fr/2019LEMA1024

►

Avec le développement des systèmes d'acquisition dynamique, la production de données spatiales a pris une ampleur sans précédent. Pour les exploitants, l'intérêt est d'obtenir un… (more)

▼

Avec le développement des systèmes d'acquisition dynamique, la production de données spatiales a pris une ampleur sans précédent. Pour les exploitants, l'intérêt est d'obtenir un clone numérique du site pour mieux gérer leurs ressources. Pour acquérir ces données la société Hélicéo propose notamment un drone aérien capable d'embarquer soit un appareil photo, soit un capteur LiDAR. Comme toute instrumentation de dynamique, cette solution nécessite de géoréférencer les données acquises.Sur la plupart des systèmes d'acquisition dynamique actuels, le géoréférencement des données acquises est réalisé grâce au couplage d'un récepteur GNSS et d'une centrale inertielle qui permettent de déterminer la trajectoire de la plateforme et son orientation.Pour répondre à ces contraintes, les drones embarquent généralement des capteurs MEMS issus de la micro-technologie qui présentent l'avantage d'être légers, peu encombrants et de consommer peu d'énergie. Cependant, l’incertitude de l'attitude déterminée par ces derniers dégrade la justesse du géoréférencement au point d'être incompatible avec les applications topographiques.Cette thèse propose une méthode alternative de géoréférencement des données acquises par un capteur LiDAR embarqué sur drone basée sur l'utilisation d'une caméra et de l'odométrie visuelle (VO). Ce manuscrit aborde donc dans un premier temps l'aspect théorique de cette nouvelle méthodologie, notamment la détermination de l'attitude à partir des images acquises par une caméra puis le géoréférencement des données LiDAR à partir du couplage GNSS/VO.

Within the development of systems dedicated to mobile mapping, spatial data production takes a growing part. For users, this spatial data is particularly interesting when computing digital models which are used to manage efficiently the resource, they are responsible for. To collect this data Hélicéo company especially offers an aerial solution which can embed a camera or a LiDAR sensor. Like every platforms dedicated to dynamic mapping, this system needs to geo-referencing the collected data in a coordinate reference frame.Most of the mobile mapping systems perform direct georeferencing using the trajectory determined from coupled GNSS receiver and inertial measurement unit (IMU). Even if this method is well known et operational for Airborne Laser Scanning (ALS) and Mobile Mapping Systems (MMS), it is hard to transpose for lightweight platforms like drones which require special payloads.To suit this constrains, drones use Micro-Electro Mechanical Systems (MEMS) which are light, compact and require low power. However, the accuracy of the attitude computed from this MEMS sensors is degraded compared to the tactical sensors so that it does not correspond to the accuracy level expected for topographic surveys.The goal of our study was to establish and validate a new methodology based on a camera and visual odometry (VO) computing. This thesis describes the theoretical approach to compute attitude from images taken by a camera and how LiDAR points are georeferenced using…

Advisors/Committee Members: Verdun, Jérôme (thesis director), Morel, Laurent (thesis director), Cali, José (thesis director).

Subjects/Keywords: LiDAR; Odométrie Visuelle; Géoréférencement; Fusion multi-capteurs; Drones; Visual Odometry; Geo-referencing; Sensor-fusion; UAV; 526.982

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

APA (6^th Edition):

Leroux, B. (2019). Fusion de données LiDAR et photographiques pour le géoréférencement direct d’un lever topographique par micro-drone aérien : LiDAR and optical data fusion for direct georeferencing of UAV mapping survey. (Doctoral Dissertation). Le Mans. Retrieved from http://www.theses.fr/2019LEMA1024

Chicago Manual of Style (16^th Edition):

Leroux, Boris. “Fusion de données LiDAR et photographiques pour le géoréférencement direct d’un lever topographique par micro-drone aérien : LiDAR and optical data fusion for direct georeferencing of UAV mapping survey.” 2019. Doctoral Dissertation, Le Mans. Accessed January 24, 2021. http://www.theses.fr/2019LEMA1024.

MLA Handbook (7^th Edition):

Leroux, Boris. “Fusion de données LiDAR et photographiques pour le géoréférencement direct d’un lever topographique par micro-drone aérien : LiDAR and optical data fusion for direct georeferencing of UAV mapping survey.” 2019. Web. 24 Jan 2021.

Vancouver:

Leroux B. Fusion de données LiDAR et photographiques pour le géoréférencement direct d’un lever topographique par micro-drone aérien : LiDAR and optical data fusion for direct georeferencing of UAV mapping survey. [Internet] [Doctoral dissertation]. Le Mans; 2019. [cited 2021 Jan 24]. Available from: http://www.theses.fr/2019LEMA1024.

Council of Science Editors:

Leroux B. Fusion de données LiDAR et photographiques pour le géoréférencement direct d’un lever topographique par micro-drone aérien : LiDAR and optical data fusion for direct georeferencing of UAV mapping survey. [Doctoral Dissertation]. Le Mans; 2019. Available from: http://www.theses.fr/2019LEMA1024

Delft University of Technology

25. Zhang, C. CMOS SPAD Sensors for 3D Time-of-Flight Imaging, LiDAR and Ultra-High Speed Cameras.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; 10.4233/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8

► In conventional applications, such as bio-imaging and microscopy, SPAD is typically used as a single-photon counter. However, this advantage has been challenged by other photon-counting… (more)

Subjects/Keywords: Single-photon avalanche diode; time-of-flight; LiDAR; image sensor; high-speed sensor

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APA (6^th Edition):

Zhang, C. (2019). CMOS SPAD Sensors for 3D Time-of-Flight Imaging, LiDAR and Ultra-High Speed Cameras. (Doctoral Dissertation). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; 10.4233/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8

Chicago Manual of Style (16^th Edition):

Zhang, C. “CMOS SPAD Sensors for 3D Time-of-Flight Imaging, LiDAR and Ultra-High Speed Cameras.” 2019. Doctoral Dissertation, Delft University of Technology. Accessed January 24, 2021. http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; 10.4233/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8.

MLA Handbook (7^th Edition):

Zhang, C. “CMOS SPAD Sensors for 3D Time-of-Flight Imaging, LiDAR and Ultra-High Speed Cameras.” 2019. Web. 24 Jan 2021.

Vancouver:

Zhang C. CMOS SPAD Sensors for 3D Time-of-Flight Imaging, LiDAR and Ultra-High Speed Cameras. [Internet] [Doctoral dissertation]. Delft University of Technology; 2019. [cited 2021 Jan 24]. Available from: http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; 10.4233/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8.

Council of Science Editors:

Zhang C. CMOS SPAD Sensors for 3D Time-of-Flight Imaging, LiDAR and Ultra-High Speed Cameras. [Doctoral Dissertation]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; 10.4233/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; urn:NBN:nl:ui:24-uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8 ; http://resolver.tudelft.nl/uuid:f2e8ac06-33c0-423e-9617-6eaa87f7abd8

Delft University of Technology

26. Katsaounis, Georgios (author). Extended Object Tracking of Pedestrians in Automotive Applications.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:d7226685-9ffe-417f-9939-2167a9dfd749

► Recent advances in sensor technology have lead to increased resolution of novel sensors, while tracking applications where distance between sensors and objects of interest is… (more)

▼ Recent advances in sensor technology have lead to increased resolution of novel sensors, while tracking applications where distance between sensors and objects of interest is very small have gained research interest recently. In these cases, it is possible that multiple sensor detections are generated by each object of interest. Extended Object Tracking (EOT) approaches consist of algorithms which make use of multiple sensor detections per object to jointly estimate their kinematic and shape extent attributes within the Bayesian tracking framework. In the last decade, various EOT algorithms have been proposed for different types of tracking applications. This M.Sc. thesis project addresses the problem of extended tracking of a single pedestrian walking in the area of a stationary vehicle (referred as ego-vehicle in this report) during a real automotive scenario. The objective is to achieve accurate estimation of both the kinematic attributes (2D centroid position/velocity), as well as its shape extent in x-y plane. In more detail, PreScan software is enabled to design a simulation scenario that is very close to a real automotive application, in terms of motion characteristics of objects of interest and sensor data acquisition. In the considered scenario, different sensor modalities are mounted on the ego-vehicle, namely a Lidar sensor and a mono camera sensor. Moreover, OpenPose library is employed to to obtain pose detections of human body parts from obtained camera images. Concerning shape extent representation, the simplest and most popular approach in previous studies, in general and especially for VRUs tracking, is to assume an elliptical shape. In fact, the Random Matrix Model (RMM), proposed originally by Koch, 2008, is a state-of-the-art EOT state modeling approach that allows for joint estimation of centroid kinematics and physical extent for considered elliptical objects of interest. Based on that, a RMM-based filter using Lidar position measurements has been proposed by Feldmann, 2011. In this project, this algorithm is used as a baseline filter for comparison with our proposed algorithm. In addition, an alternative tracking algorithm is proposed in this study, which has the following differences with respect to the baseline filter: State Initialization of the filter: In our proposed version of the tracking algorithm, human pose detections of shoulders and ankles are are associated with obtained Lidar position measurements in order to provide initial values for the kinematic state (2D position/velocity) and shape parameters (ellipse orientation and semi-axes lengths) of the pedestrian.Measurement Update step of the filter: In our proposed version of the tracking algorithm, camera-obtained pose detections of pedestrian shoulders are associated with obtained Lidar position measurements in order to create an extra measurement, for pedestrian heading angle. Subsequently, a nonlinear filtering update step fusing Lidar-obtained point cloud data for pedestrian position and human-pose-obtained… Advisors/Committee Members: Alonso Mora, Javier (mentor), Domhof, Joris (mentor), Tasoglou, Athanasios (mentor), Gavrila, Dariu (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Extended Object Tracking; Vulnurable Road Users; Pedestrians; Environmental Perception; Automotive Applications; Lidar sensor; Mono camera sensor; Sensor Fusion; Random Matrix Model; Elliptical shape; OpenPose library; Human Pose Detections; position measurement; heading angle measurement; Extended Kalman Filter; Kalman Filter

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

APA (6^th Edition):

Katsaounis, G. (. (2019). Extended Object Tracking of Pedestrians in Automotive Applications. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:d7226685-9ffe-417f-9939-2167a9dfd749

Chicago Manual of Style (16^th Edition):

Katsaounis, Georgios (author). “Extended Object Tracking of Pedestrians in Automotive Applications.” 2019. Masters Thesis, Delft University of Technology. Accessed January 24, 2021. http://resolver.tudelft.nl/uuid:d7226685-9ffe-417f-9939-2167a9dfd749.

MLA Handbook (7^th Edition):

Katsaounis, Georgios (author). “Extended Object Tracking of Pedestrians in Automotive Applications.” 2019. Web. 24 Jan 2021.

Vancouver:

Katsaounis G(. Extended Object Tracking of Pedestrians in Automotive Applications. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 24]. Available from: http://resolver.tudelft.nl/uuid:d7226685-9ffe-417f-9939-2167a9dfd749.

Council of Science Editors:

Katsaounis G(. Extended Object Tracking of Pedestrians in Automotive Applications. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:d7226685-9ffe-417f-9939-2167a9dfd749

27. 中島, 晨之介. 単一モータを用いた３次元メッシュ軌道走査機構の開発.

Degree: Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学

URL: http://hdl.handle.net/10119/13620

Supervisor:丁洛榮

情報科学研究科

修士

Subjects/Keywords: 3D scanning; mesh orbit; sensor positioner; single motor; external environment measurement; LIDAR

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

APA (6^th Edition):

中島, �. (n.d.). 単一モータを用いた３次元メッシュ軌道走査機構の開発. (Thesis). Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学. Retrieved from http://hdl.handle.net/10119/13620

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

中島, 晨之介. “単一モータを用いた３次元メッシュ軌道走査機構の開発.” Thesis, Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学. Accessed January 24, 2021. http://hdl.handle.net/10119/13620.

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

中島, 晨之介. “単一モータを用いた３次元メッシュ軌道走査機構の開発.” Web. 24 Jan 2021.

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Vancouver:

中島 �. 単一モータを用いた３次元メッシュ軌道走査機構の開発. [Internet] [Thesis]. Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学; [cited 2021 Jan 24]. Available from: http://hdl.handle.net/10119/13620.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

Council of Science Editors:

中島 �. 単一モータを用いた３次元メッシュ軌道走査機構の開発. [Thesis]. Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学; Available from: http://hdl.handle.net/10119/13620

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

Università Cattolica del Sacro Cuore

28. RINALDI, MONICA FERNANDA. Modellazione dell’impatto del cambiamento climatico sulla interazione pianta - patogeni a livello regionale nel Trentino – Italia.

Degree: 2013, Università Cattolica del Sacro Cuore

URL: http://hdl.handle.net/10280/1747

► Il controllo in agricoltura delle malattie causate da patogeni fungini può essere effettuato attraverso l’uso di modelli di previsione che si basano comunemente sul monitoraggio… (more)

▼ Il controllo in agricoltura delle malattie causate da patogeni fungini può essere effettuato attraverso l’uso di modelli di previsione che si basano comunemente sul monitoraggio in tempo reale di una serie di variabili di input. Queste informazioni generalmente combinano dati metereologici locali con modelli matematici costruiti allo scopo di predire il rischio di malattie. Il processo decisionale si attiva quando un avvertimento sul potenziale rischio viene riconosciuto da parte dei modelli. Diversi modelli epidemiologici sono stati sviluppati e validati nel mondo. Negli Stati Uniti d’America, ad esempio, l’università della California ha sviluppato un supporto decisionale on-line per gestire la coltura secondo i principi della lotta integrata (Integrated Pest Management - IPM). Ciascun agricoltore può consultare il proprio database informativo e prendere decisioni sui trattamenti da effettuare basandosi su dati sito-specifici. Le difficoltà sorgono quando non sono disponibili dati meteorologici da stazioni poste nelle vicinanze del sito in studio o per le zone montane caratterizzate da una forte variabilità altimetrica. Inoltre i dati meteorologici disponibili possono presentarsi in formato non adeguato rispetto alle esigenze del modello previsionale. Con l’intento di avere una visione regionale e una maggiore accuratezza nella gestione del controllo delle malattie, l’obiettivo della tesi è stato l’utilizzo contemporaneo di modelli epidemiologici (Lobesia botrana e Erysiphe necator, agente causale dell’oidio della vite) con modelli fenologici (cultivar di vite Chardonnay) utilizzando parametri meteorologici come la temperatura per creare mappe a livello regionale, a frequenza giornaliera e con una risoluzione spaziale di 200 metri. L’utilizzo contemporaneo di entrambi i modelli aiuta ad essere più precisi nel consigliare interventi colturali nel periodo di sensibilità dell’ospite nei confronti del patogeno o della malattia in modo da poterne stimare il reale rischio di diffusione o insorgenza. Dopo aver calibrato e validato i modelli in Trentino-Alto Adige (Nord Italia) con dati metereologici locali, basandoci sul modello del cambiamento climatico HadAM3 dell’Hadley Centre (Pope et al., 2000),l’andamento climatico previsto è stato proiettato e statisticamente portato. in scala, utilizzando lo scenario A2 e B2. L’algoritmo statistico utilizzato per ridurre la scala giornaliera di risoluzione è chiamato “transfer function” (Eccel et al., 2009). Per completare l’analisi, è stato inoltre utilizzato lo scenario ridimensionato di ENSEMBLES attraverso l’uso di set di dati provenienti da 49 stazioni meteorologiche della FEM e dal pacchetto “RMAWGEN” (Cordano et al., 2012) creato con il software statistico R. (Gentleman et al., 1997). Per mappare i modelli è stata sviluppata una semplice piattaforma modulare WEB-GIS chiamata ENVIRO. I moduli sono “Open Source” e seguono gli standard internazionali dell’“Open Geospatial Consortium” (OGC) e sono stati implementati come segue: i) enviDB è il database per i dati… Advisors/Committee Members: ASTORRI, ROMEO, ROSSI, VITTORIO, PERTOT, ILARIA.

Subjects/Keywords: AGR/12: PATOLOGIA VEGETALE; AGR/09: MECCANICA AGRARIA; Epidemiological and phenological models, Climate Change, ENVIRO WEB-GIS,Tree Row Volume, LIDAR sensor, 3D maps.

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

APA (6^th Edition):

RINALDI, M. F. (2013). Modellazione dell’impatto del cambiamento climatico sulla interazione pianta - patogeni a livello regionale nel Trentino – Italia. (Doctoral Dissertation). Università Cattolica del Sacro Cuore. Retrieved from http://hdl.handle.net/10280/1747

Chicago Manual of Style (16^th Edition):

RINALDI, MONICA FERNANDA. “Modellazione dell’impatto del cambiamento climatico sulla interazione pianta - patogeni a livello regionale nel Trentino – Italia.” 2013. Doctoral Dissertation, Università Cattolica del Sacro Cuore. Accessed January 24, 2021. http://hdl.handle.net/10280/1747.

MLA Handbook (7^th Edition):

RINALDI, MONICA FERNANDA. “Modellazione dell’impatto del cambiamento climatico sulla interazione pianta - patogeni a livello regionale nel Trentino – Italia.” 2013. Web. 24 Jan 2021.

Vancouver:

RINALDI MF. Modellazione dell’impatto del cambiamento climatico sulla interazione pianta - patogeni a livello regionale nel Trentino – Italia. [Internet] [Doctoral dissertation]. Università Cattolica del Sacro Cuore; 2013. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/10280/1747.

Council of Science Editors:

RINALDI MF. Modellazione dell’impatto del cambiamento climatico sulla interazione pianta - patogeni a livello regionale nel Trentino – Italia. [Doctoral Dissertation]. Università Cattolica del Sacro Cuore; 2013. Available from: http://hdl.handle.net/10280/1747

Linköping University

29. Nyberg, Patrik. Stabilization, Sensor Fusion and Path Following for Autonomous Reversing of a Full-Scale Truck and Trailer System.

Degree: Automatic Control, 2016, Linköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-130545

► This thesis investigates and implements the sensor fusion necessary to autonomously reverse a full size truck and trailer system. This is done using a… (more)

Subjects/Keywords: Truck; Reversing; Reversing trailer system; Reversing trailer; trailer; truck and trailer; control; LQ; linear quadratic control; sensor fusion; Kalman filter; EKF; KF; RANSAC; LiDAR; autonomous; driver aid

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

APA (6^th Edition):

Nyberg, P. (2016). Stabilization, Sensor Fusion and Path Following for Autonomous Reversing of a Full-Scale Truck and Trailer System. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-130545

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Nyberg, Patrik. “Stabilization, Sensor Fusion and Path Following for Autonomous Reversing of a Full-Scale Truck and Trailer System.” 2016. Thesis, Linköping University. Accessed January 24, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-130545.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Nyberg, Patrik. “Stabilization, Sensor Fusion and Path Following for Autonomous Reversing of a Full-Scale Truck and Trailer System.” 2016. Web. 24 Jan 2021.

Vancouver:

Nyberg P. Stabilization, Sensor Fusion and Path Following for Autonomous Reversing of a Full-Scale Truck and Trailer System. [Internet] [Thesis]. Linköping University; 2016. [cited 2021 Jan 24]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-130545.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Nyberg P. Stabilization, Sensor Fusion and Path Following for Autonomous Reversing of a Full-Scale Truck and Trailer System. [Thesis]. Linköping University; 2016. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-130545

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

KTH

30. Stefansson, Thor. 3D obstacle avoidance for drones using a realistic sensor setup.

Degree: RPL, 2018, KTH

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233807

►

Obstacle avoidance is a well researched area, however most of the works only consider a 2D environment. Drones can move in three dimensions. It… (more)

Subjects/Keywords: robotics; drones; unmanned aerial vehicle; obstacle avoidance; 3D; realistic sensor setup; depth camera; lidar; obstacle restriction method; ORM; indoors; Robotics; Robotteknik och automation

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

APA (6^th Edition):

Stefansson, T. (2018). 3D obstacle avoidance for drones using a realistic sensor setup. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233807

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Stefansson, Thor. “3D obstacle avoidance for drones using a realistic sensor setup.” 2018. Thesis, KTH. Accessed January 24, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233807.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Stefansson, Thor. “3D obstacle avoidance for drones using a realistic sensor setup.” 2018. Web. 24 Jan 2021.

Vancouver:

Stefansson T. 3D obstacle avoidance for drones using a realistic sensor setup. [Internet] [Thesis]. KTH; 2018. [cited 2021 Jan 24]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233807.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Stefansson T. 3D obstacle avoidance for drones using a realistic sensor setup. [Thesis]. KTH; 2018. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233807

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Open Access Theses and Dissertations