Bibliographies thématiques / Laser scanner mobile

Littérature scientifique sur le sujet « Laser scanner mobile »

Auteur : Grafiati

Publié le 10 mars 2023

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Articles de revues sur le sujet "Laser scanner mobile"

Mezian, c., Bruno Vallet, Bahman Soheilian et Nicolas Paparoditis. « UNCERTAINTY PROPAGATION FOR TERRESTRIAL MOBILE LASER SCANNER ». ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B3 (9 juin 2016) : 331–35. http://dx.doi.org/10.5194/isprs-archives-xli-b3-331-2016.

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Laser scanners are used more and more in mobile mapping systems. They provide 3D point clouds that are used for object reconstruction and registration of the system. For both of those applications, uncertainty analysis of 3D points is of great interest but rarely investigated in the literature. In this paper we present a complete pipeline that takes into account all the sources of uncertainties and allows to compute a covariance matrix per 3D point. The sources of uncertainties are laser scanner, calibration of the scanner in relation to the vehicle and direct georeferencing system. We suppose that all the uncertainties follow the Gaussian law. The variances of the laser scanner measurements (two angles and one distance) are usually evaluated by the constructors. This is also the case for integrated direct georeferencing devices. Residuals of the calibration process were used to estimate the covariance matrix of the 6D transformation between scanner laser and the vehicle system. Knowing the variances of all sources of uncertainties, we applied uncertainty propagation technique to compute the variance-covariance matrix of every obtained 3D point. Such an uncertainty analysis enables to estimate the impact of different laser scanners and georeferencing devices on the quality of obtained 3D points. The obtained uncertainty values were illustrated using error ellipsoids on different datasets.

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Jing, H., N. Slatcher, X. Meng et G. Hunter. « MONITORING CAPABILITIES OF A MOBILE MAPPING SYSTEM BASED ON NAVIGATION QUALITIES ». ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B1 (6 juin 2016) : 625–31. http://dx.doi.org/10.5194/isprs-archives-xli-b1-625-2016.

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Mobile mapping systems are becoming increasingly popular as they can build 3D models of the environment rapidly by using a laser scanner that is integrated with a navigation system. 3D mobile mapping has been widely used for applications such as 3D city modelling and mapping of the scanned environments. However, accurate mapping relies on not only the scanner’s performance but also on the quality of the navigation results (accuracy and robustness) . This paper discusses the potentials of using 3D mobile mapping systems for landscape change detection, that is traditionally carried out by terrestrial laser scanners that can be accurately geo-referenced at a static location to produce highly accurate dense point clouds. Yet compared to conventional surveying using terrestrial laser scanners, several advantages of mobile mapping systems can be identified. A large area can be monitored in a relatively short period, which enables high repeat frequency monitoring without having to set-up dedicated stations. However, current mobile mapping applications are limited by the quality of navigation results, especially in different environments. The change detection ability of mobile mapping systems is therefore significantly affected by the quality of the navigation results. This paper presents some data collected for the purpose of monitoring from a mobile platform. The datasets are analysed to address current potentials and difficulties. The change detection results are also presented based on the collected dataset. Results indicate the potentials of change detection using a mobile mapping system and suggestions to enhance quality and robustness.

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Kaijaluoto, R., et A. Hyyppä. « PRECISE INDOOR LOCALIZATION FOR MOBILE LASER SCANNER ». ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-4/W5 (11 mai 2015) : 1–6. http://dx.doi.org/10.5194/isprsarchives-xl-4-w5-1-2015.

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Accurate 3D data is of high importance for indoor modeling for various applications in construction, engineering and cultural heritage documentation. For the lack of GNSS signals hampers use of kinematic platforms indoors, TLS is currently the most accurate and precise method for collecting such a data. Due to its static single view point data collection, excessive time and data redundancy are needed for integrity and coverage of data. However, localization methods with affordable scanners are used for solving mobile platform pose problem. The aim of this study was to investigate what level of trajectory accuracies can be achieved with high quality sensors and freely available state of the art planar SLAM algorithms, and how well this trajectory translates to a point cloud collected with a secondary scanner. <br><br> In this study high precision laser scanners were used with a novel way to combine the strengths of two SLAM algorithms into functional method for precise localization. We collected five datasets using Slammer platform with two laser scanners, and processed them with altogether 20 different parameter sets. The results were validated against TLS reference. The results show increasing scan frequency improves the trajectory, reaching 20 mm RMSE levels for the best performing parameter sets. Further analysis of the 3D point cloud showed good agreement with TLS reference with 17 mm positional RMSE. With precision scanners the obtained point cloud allows for high level of detail data for indoor modeling with accuracies close to TLS at best with vastly improved data collection efficiency.

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Rahok, Sam Ann, Hirohisa Oneda, Akio Tanaka et Koichi Ozaki. « A Robust NavigationMethod for Mobile Robots in Real-World Environments ». Journal of Robotics and Mechatronics 26, n^o 2 (20 avril 2014) : 177–84. http://dx.doi.org/10.20965/jrm.2014.p0177.

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This paper describes a robust navigation method for real-world environments. The method uses a 3-axis magnetic sensor and a laser range scanner. The magnetic field that occurs in the environment is used as key landmarks in the proposed navigation method, and physical landmarks scanned by the laser range scanner are taken into account in compensating for the mobile robot’s lateral error. An evaluation experiment was conducted during the final run of the Real World Robot Challenge (RWRC) 2013, and the result showed that the mobile robot equipped with the proposed method robustly navigated a 1.6 km course.

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Nikoohemat, S., M. Peter, S. Oude Elberink et G. Vosselman. « EXPLOITING INDOOR MOBILE LASER SCANNER TRAJECTORIES FOR SEMANTIC INTERPRETATION OF POINT CLOUDS ». ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences IV-2/W4 (14 septembre 2017) : 355–62. http://dx.doi.org/10.5194/isprs-annals-iv-2-w4-355-2017.

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The use of Indoor Mobile Laser Scanners (IMLS) for data collection in indoor environments has been increasing in the recent years. These systems, unlike Terrestrial Laser Scanners (TLS), collect data along a trajectory instead of at discrete scanner positions. In this research, we propose several methods to exploit the trajectories of IMLS systems for the interpretation of point clouds. By means of occlusion reasoning and use of trajectory as a set of scanner positions, we are capable of detecting openings in cluttered indoor environments. In order to provide information about both the partitioning of the space and the navigable space, we use the voxel concept for point clouds. Furthermore, to reconstruct walls, floor and ceiling we exploit the indoor topology and plane primitives. The results show that the trajectory is a valuable source of data for feature detection and understanding of indoor MLS point clouds.

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Bouziani, M., F. Boucht et F. Nouri. « CONTRIBUTION OF BATHYMETRIC MULTI-BEAM SONAR AND LASER SCANNERS IN 3D MODELING AND ESTIMATION OF SILTATION OF DAM BASIN IN MOROCCO ». International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLVI-4/W4-2021 (7 octobre 2021) : 5–9. http://dx.doi.org/10.5194/isprs-archives-xlvi-4-w4-2021-5-2021.

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Abstract. In Morocco, the phenomenon of silting affects all the dams, where more than 75 Mm3 of sediments are deposited every year at the bottom of the reservoirs. The aim of our study is to assess the contribution of the bathymetric multi-beam sonar as well as static and mobile laser scanners in the estimation of siltation of the basin of the Tanger-Med dam in the north of Morocco. The proposed methodology consists of performing and fusion of a bathymetric survey by multi-beam echo-sounder with terrestrial laser scanner surveys in static mode and mobile mode. The result of these surveys is used, for the calculation of the siltation volume and the inspection of the upstream facing of the main structure. Siltation calculation was carried out with comparison to a reference survey obtained by single beam sonar. The comparison between these two instruments showed that the multi-beam presents many advantages: high density of the cloud of points acquired and precision. The density allows providing a better description of the dam's bottom. The comparative study between the two types of scanners showed that static scanner offers a better accuracy. However, mobile scanner gives more accessibility of all parts of the dam. As a conclusion, the multi-beam echo-sounder with additional laser scanner data have many advantages in this study: volume calculation precision, reduction of the acquisition time and the enhancement of the acquired point cloud density. We also obtained a global 3d modelling useful for the monitoring of the infrastructure.

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Heinz, Erik, Markus Mettenleiter, Heiner Kuhlmann et Christoph Holst. « Strategy for Determining the Stochastic Distance Characteristics of the 2D Laser Scanner Z + F Profiler 9012A with Special Focus on the Close Range ». Sensors 18, n^o 7 (12 juillet 2018) : 2253. http://dx.doi.org/10.3390/s18072253.

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Kinematic laser scanning with moving platforms has been used for the acquisition of 3D point clouds of our environment for many years. A main application of these mobile systems is the acquisition of the infrastructure, e.g., the road surface and buildings. Regarding this, the distance between laser scanner and object is often notably shorter than 20 m. In the close range, however, divergent incident laser light can lead to a deterioration of the precision of laser scanner distance measurements. In the light of this, we analyze the distance precision of the 2D laser scanner Z + F Profiler 9012A, purpose-built for kinematic applications, in the range of up to 20 m. In accordance with previous studies, a clear dependency between scan rate, intensity of the backscattered laser light and distance precision is evident, which is used to derive intensity-based stochastic models for the sensor. For this purpose, a new approach for 2D laser scanners is proposed that is based on the static scanning of surfaces with different backscatter. The approach is beneficial because the 2D laser scanner is operated in its normal measurement mode, no sophisticated equipment is required and no model assumptions for the scanned surface are made. The analysis reveals a lower precision in the range below 5 m caused by a decreased intensity. However, the Z + F Profiler 9012A is equipped with a special hardware-based close range optimization partially compensating for this. Our investigations show that this optimization works best at a distance of about 2 m. Although increased noise remains a critical factor in the close range, the derived stochastic models are also valid below 5 m.

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Ishikawa, Kiichiro, Jun-ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume et Takashi Fujishima. « Tunnel Cross-Section Measurement System Using a Mobile Mapping System ». Journal of Robotics and Mechatronics 21, n^o 2 (20 avril 2009) : 193–99. http://dx.doi.org/10.20965/jrm.2009.p0193.

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This paper describes a tunnel cross-section measurement system using a mobile mapping system (MMS). The MMS features a GPS/ Dead Reckoning (DR) combined navigation system, a three-axis GPS-Gyro/ Inertial Measurement Unit (IMU), laser scanners, cameras, and the Network-based Positioning Augmentation Services (PAS). As GPS cannot be used in the tunnel, so the position estimation is done using IMU and Odometer. In this paper the result of comparison between the conventional tunnel cross-section measurement methods using 3D laser scanner and total station, and the proposed method using the MMS is described. And the examination result of the MMS's positioning accuracy that doesn't use GPS is described. The evaluation result proves that the tunnel cross-section measurement accuracy using the MMS is 7.0 mm, the MMS's measurement accuracy is not different from conventional method using a 3D laser scanner and a total station. The MMS tunnel measurement efficiency is also confirmed in this paper.

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Thèses sur le sujet "Laser scanner mobile"

Nalani, Hetti Arachchige. « Automatic Reconstruction of Urban Objects from Mobile Laser Scanner Data ». Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2015. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-159872.

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Aktuelle 3D-Stadtmodelle werden immer wichtiger in verschiedenen städtischen Anwendungsbereichen. Im Moment dienen sie als Grundlage bei der Stadtplanung, virtuellem Tourismus und Navigationssystemen. Mittlerweile ist der Bedarf an 3D-Gebäudemodellen dramatisch gestiegen. Der Grund dafür sind hauptsächlich Navigationssysteme und Onlinedienste wie Google Earth. Die Mehrheit der Untersuchungen zur Rekonstruktion von Gebäudemodellen von Luftaufnahmen konzentriert sich ausschließlich auf Dachmodellierung. Jedoch treiben Anwendungen wie Virtuelle Realität und Navigationssysteme die Nachfrage nach detaillieren Gebäudemodellen, die nicht nur die geometrischen Aspekte sondern auch semantische Informationen beinhalten, stark an. Urbanisierung und Industrialisierung beeinflussen das Wachstum von urbaner Vegetation drastisch, welche als ein wesentlicher Teil des Lebensraums angesehen wird. Aus diesem Grund werden Aufgaben wie der Ökosystemüberwachung, der Verbesserung der Planung und des Managements von urbanen Regionen immer mehr Aufmerksamkeit geschenkt. Gleichermaßen hat die Erkennung und Modellierung von Bäumen im Stadtgebiet sowie die kontinuierliche Überprüfung ihrer Inventurparameter an Bedeutung gewonnen. Die steigende Nachfrage nach 3D-Gebäudemodellen, welche durch Fassadeninformation ergänzt wurden, und Informationen über einzelne Bäume im städtischen Raum erfordern effiziente Extraktions- und Rekonstruktionstechniken, die hochgradig automatisiert sind. In diesem Zusammenhang ist das Wissen über die geometrische Form jedes Objektteils ein wichtiger Aspekt. Heutzutage, wird das Mobile Laser Scanning (MLS) vermehrt eingesetzt um Objekte im städtischen Umfeld zu erfassen und es entwickelt sich zur Hauptquelle von Daten für die Modellierung von urbanen Objekten. Eine Vielzahl von Objekten wurde schon mit Daten von MLS rekonstruiert. Außerdem wurden bereits viele Methoden für die Verarbeitung von MLS-Daten mit dem Ziel urbane Objekte zu erkennen und zu rekonstruieren vorgeschlagen. Die 3D-Punkwolke einer städtischen Szene stellt eine große Menge von Messungen dar, die viele Objekte von verschiedener Größe umfasst, komplexe und unvollständige Strukturen sowie Löcher (Rauschen und Datenlücken) enthält und eine inhomogene Punktverteilung aufweist. Aus diesem Grund ist die Verarbeitung von MLS-Punktwolken im Hinblick auf die Extrahierung und Modellierung von wesentlichen und charakteristischen Fassadenstrukturen sowie Bäumen von großer Bedeutung. In der Arbeit werden zwei neue Methoden für die Rekonstruktion von Gebäudefassaden und die Extraktion von Bäumen aus MLS-Punktwolken vorgestellt, sowie ihre Anwendbarkeit in der städtischen Umgebung analysiert. Die erste Methode zielt auf die Rekonstruktion von Gebäudefassaden mit expliziter semantischer Information, wie beispielsweise Fenster, Türen, und Balkone. Die Rekonstruktion läuft vollautomatisch ab. Zu diesem Zweck werden einige Algorithmen vorgestellt, die auf dem Vorwissen über die geometrische Form und das Arrangement von Fassadenmerkmalen beruhen. Die initiale Klassifikation, mit welcher die Punkte in Objektpunkte und Bodenpunkte unterschieden werden, wird über eine lokale Höhenhistogrammanalyse zusammen mit einer planaren Region-Growing-Methode erzielt. Die Punkte, die als zugehörig zu Objekten klassifiziert werden, werden anschließend in Ebenen segmentiert, welche als Basiselemente der Merkmalserkennung angesehen werden können. Information über die Gebäudestruktur kann in Form von Regeln und Bedingungen erfasst werden, welche die wesentlichen Steuerelemente bei der Erkennung der Fassadenmerkmale und der Rekonstruktion des geometrischen Modells darstellen. Um Merkmale wie Fenster oder Türen zu erkennen, die sich an der Gebäudewand befinden, wurde eine löcherbasierte Methode implementiert. Einige Löcher, die durch Verdeckungen entstanden sind, können anschließend durch einen neuen regelbasierten Algorithmus eliminiert werden. Außenlinien der Merkmalsränder werden durch ein Polygon verbunden, welches das geometrische Modell repräsentiert, indem eine Methode angewendet wird, die auf geometrischen Primitiven basiert. Dabei werden die topologischen Relationen unter Beachtung des Vorwissens über die primitiven Formen analysiert. Mögliche Außenlinien können von den Kantenpunkten bestimmt werden, welche mit einer winkelbasierten Methode detektiert werden können. Wiederkehrende Muster und Ähnlichkeiten werden ausgenutzt um geometrische und topologische Ungenauigkeiten des rekonstruierten Modells zu korrigieren. Neben der Entwicklung des Schemas zur Rekonstruktion des 3D-Fassadenmodells, sind die Segmentierung einzelner Bäume und die Ableitung von Attributen der städtischen Bäume im Fokus der Untersuchung. Die zweite Methode zielt auf die Extraktion von individuellen Bäumen aus den Restpunktwolken. Vorwissen über Bäume, welches speziell auf urbane Regionen zugeschnitten ist, wird im Extraktionsprozess verwendet. Der formbasierte Ansatz zur Extraktion von Einzelbäumen besteht aus einer Reihe von Schritten. In jedem Schritt werden Objekte in Abhängigkeit ihrer geometrischen Merkmale gefunden. Stämme werden unter Ausnutzung der Hauptrichtung der Punktverteilung identifiziert. Dafür werden Punktsegmente gesucht, die einen Teil des Baumstamms repräsentieren. Das Ergebnis des Algorithmus sind segmentierte Bäume, welche genutzt werden können um genaue Informationen über die Größe und Position jedes einzelnen Baumes abzuleiten. Einige Beispiele der Ergebnisse werden in der Arbeit angeführt. Die Zuverlässigkeit der Algorithmen und der Methoden im Allgemeinen wurden unter Verwendung von drei Datensätzen, die mit verschiedenen Laserscannersystemen aufgenommen wurden, verifiziert. Die Untersuchung zeigt auch das Potential sowie die Einschränkungen der entwickelten Methoden wenn sie auf verschiedenen Datensätzen angewendet werden. Die Ergebnisse beider Methoden wurden quantitativ bewertet unter Verwendung einer Menge von Maßen, die die Qualität der Fassadenrekonstruktion und Baumextraktion betreffen wie Vollständigkeit und Genauigkeit. Die Genauigkeit der Fassadenrekonstruktion, der Baumstammdetektion, der Erfassung von Baumkronen, sowie ihre Einschränkungen werden diskutiert. Die Ergebnisse zeigen, dass MLS-Punktwolken geeignet sind um städtische Objekte detailreich zu dokumentieren und dass mit automatischen Rekonstruktionsmethoden genaue Messungen der wichtigsten Attribute der Objekte, wie Fensterhöhe und -breite, Flächen, Stammdurchmesser, Baumhöhe und Kronenfläche, erzielt werden können. Der gesamte Ansatz ist geeignet für die Rekonstruktion von Gebäudefassaden und für die korrekte Extraktion von Bäumen sowie ihre Unterscheidung zu anderen urbanen Objekten wie zum Beispiel Straßenschilder oder Leitpfosten. Aus diesem Grund sind die beiden Methoden angemessen um Daten von heterogener Qualität zu verarbeiten. Des Weiteren bieten sie flexible Frameworks für das viele Erweiterungen vorstellbar sind
Up-to-date 3D urban models are becoming increasingly important in various urban application areas, such as urban planning, virtual tourism, and navigation systems. Many of these applications often demand the modelling of 3D buildings, enriched with façade information, and also single trees among other urban objects. Nowadays, Mobile Laser Scanning (MLS) technique is being progressively used to capture objects in urban settings, thus becoming a leading data source for the modelling of these two urban objects. The 3D point clouds of urban scenes consist of large amounts of data representing numerous objects with significant size variability, complex and incomplete structures, and holes (noise and data gaps) or variable point densities. For this reason, novel strategies on processing of mobile laser scanning point clouds, in terms of the extraction and modelling of salient façade structures and trees, are of vital importance. The present study proposes two new methods for the reconstruction of building façades and the extraction of trees from MLS point clouds. The first method aims at the reconstruction of building façades with explicit semantic information such as windows, doors and balconies. It runs automatically during all processing steps. For this purpose, several algorithms are introduced based on the general knowledge on the geometric shape and structural arrangement of façade features. The initial classification has been performed using a local height histogram analysis together with a planar growing method, which allows for classifying points as object and ground points. The point cloud that has been labelled as object points is segmented into planar surfaces that could be regarded as the main entity in the feature recognition process. Knowledge of the building structure is used to define rules and constraints, which provide essential guidance for recognizing façade features and reconstructing their geometric models. In order to recognise features on a wall such as windows and doors, a hole-based method is implemented. Some holes that resulted from occlusion could subsequently be eliminated by means of a new rule-based algorithm. Boundary segments of a feature are connected into a polygon representing the geometric model by introducing a primitive shape based method, in which topological relations are analysed taking into account the prior knowledge about the primitive shapes. Possible outlines are determined from the edge points detected from the angle-based method. The repetitive patterns and similarities are exploited to rectify geometrical and topological inaccuracies of the reconstructed models. Apart from developing the 3D façade model reconstruction scheme, the research focuses on individual tree segmentation and derivation of attributes of urban trees. The second method aims at extracting individual trees from the remaining point clouds. Knowledge about trees specially pertaining to urban areas is used in the process of tree extraction. An innovative shape based approach is developed to transfer this knowledge to machine language. The usage of principal direction for identifying stems is introduced, which consists of searching point segments representing a tree stem. The output of the algorithm is, segmented individual trees that can be used to derive accurate information about the size and locations of each individual tree. The reliability of the two methods is verified against three different data sets obtained from different laser scanner systems. The results of both methods are quantitatively evaluated using a set of measures pertaining to the quality of the façade reconstruction and tree extraction. The performance of the developed algorithms referring to the façade reconstruction, tree stem detection and the delineation of individual tree crowns as well as their limitations are discussed. The results show that MLS point clouds are suited to document urban objects rich in details. From the obtained results, accurate measurements of the most important attributes relevant to the both objects (building façades and trees), such as window height and width, area, stem diameter, tree height, and crown area are obtained acceptably. The entire approach is suitable for the reconstruction of building façades and for the extracting trees correctly from other various urban objects, especially pole-like objects. Therefore, both methods are feasible to cope with data of heterogeneous quality. In addition, they provide flexible frameworks, from which many extensions can be envisioned

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Colaço, André Freitas. « Mobile terrestrial laser scanner for site-specific management in orange crop ». Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/11/11152/tde-23012017-151317/.

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Sensors based on LiDAR (Light Detection and Ranging) technology have the potential to provide accurate 3D models of the trees retrieving information such as canopy volume and height. This information can be used for diagnostics and prescriptions of fertilizers and plant protection products on a site-specific basis. This research aimed to investigate the use of LiDAR sensors in orange crops. Orange is one of the most important tree crop in Brazil. So far, research have developed and tested LiDAR based systems for several tree crops. However, usually individual trees or small field plots have been used. Therefore, several aspects related to data acquisition and processing must still be developed for large-scale application. The first study reported in this document (Chapter 3) aimed to develop and test a mobile terrestrial laser scanner (MTLS) and new data processing methods in order to obtain 3D models of large commercial orange groves and spatial information about canopy geometry. A 2D laser sensor and a RTK-GNSS receiver (Real Time Kinematics - Global Navigation Satellite System) were mounted on a vehicle. The data processing was based on generating a georeferenced point cloud, followed by the filtering, classification and surface reconstruction steps. A 25 ha commercial orange grove was used for field validation. The developed data acquisition and processing system was able to produce a reliable point cloud of the grove, providing high resolution canopy volume and height information. The choice of the type of point cloud classification (by individual trees or by transversal sections of the row) and the surface reconstruction algorithm is discussed in this study. The second study (Chapter 4) aimed to characterize the spatial variability of canopy geometry in commercial orange groves. Understanding such variability allows sensor-based variable rate application of inputs (i.e, applying proportional rates of inputs based on the variability of canopy size) to be considered as a suitable strategy to optimize the use of fertilizers and plant protection products. Five commercial orange groves were scanned with the developed MTLS system. According to the variability of canopy volume found in those groves, the input savings as a result of implementing sensor-based variable rate technologies were estimated in about 40%. The second goal of this study was to understand the relationship between canopy geometry and several other relevant attributes of the groves. The canopy volume and height maps of three groves were analyzed against historical yield maps, elevation, soil electrical conductivity, organic matter and clay content maps. The correlations found between canopy geometry and yield or soil maps varied from poor to strong correlations, depending on the grove. When classifying the groves into three classes according to canopy size, the yield performance and soil features inside each class was found to be significantly different, indicating that canopy geometry is a suitable variable to guide management zones delineation in one grove. Overall results from this research show the potential of MTLS systems and subsequent data analysis in orange crops indicating how canopy geometry information can be used in site-specific management practices.
Sensores baseados em tecnologia LiDAR (Light Detection and Ranging) têm o potencial de fornecer modelos tridimensionais de árvores, provendo informações como o volume e altura de copa. Essas informações podem ser utilizadas em diagnósticos e recomendações localizadas de fertilizantes e defensivos agrícolas. Este estudo teve como objetivo investigar o uso de sensores LiDAR na cultura da laranja, uma das principais culturas de porte arbóreo no Brasil. Diversas pesquisas têm desenvolvido sistemas LiDAR para culturas arbóreas. Porém, normalmente tais sistemas são empregados em plantas individuais ou em pequenas áreas. Dessa forma, diversos aspectos da aquisição e processamento de dados ainda devem ser desenvolvidos para viabilizar a aplicação em larga escala. O primeiro estudo deste documento (Capítulo 3) focou no desenvolvimento de um sistema LiDAR (Mobile Terrestrial Laser Scanner - MTLS) e nova metodologia de processamento de dados para obtenção de informações acerca da geometria das copas em pomares comerciais de laranja. Um sensor a laser e um receptor RTK-GNSS (Real Time Kinematics - Global Navigation Satellite System) foram instalados em um veículo para leituras em campo. O processamento de dados foi baseado na geração de uma nuvem de pontos, seguida dos passos de filtragem, classificação e reconstrução da superfície das copas. Um pomar comercial de laranja de 25 ha foi utilizado para a validação. O sistema de aquisição e processamento de dados foi capaz de produzir uma nuvem de pontos representativa do pomar, fornecendo informação sobre geometria das plantas em alta resolução. A escolha sobre o tipo de classificação da nuvem de pontos (em plantas individuais ou em seções transversais das fileiras) e sobre o algoritmo de reconstrução de superfície, foi discutida nesse estudo. O segundo estudo (Capítulo 4) buscou caracterizar a variabilidade espacial da geometria de copa em pomares comerciais. Entender tal variabilidade permite avaliar se a aplicação em taxas variáveis de insumos baseada em sensores LiDAR (aplicar quantias de insumos proporcionais ao tamanho das copas) é uma estratégia adequada para otimizar o uso de insumos. Cinco pomares comerciais foram avaliados com o sistema MTLS. De acordo com a variabilidade encontrada, a economia de insumos pelo uso da taxa variável foi estimada em aproximadamente 40%. O segundo objetivo desse estudo foi avaliar a relação entre a geometria de copa e diversos outros parâmetros dos pomares. Os mapas de volume e altura de copa foram comparados aos mapas de produtividade, elevação, condutividade elétrica do solo, matéria orgânica e textura do solo. As correlações entre geometria de copa e produtividade ou fatores de solo variaram de fraca até forte, dependendo do pomar. Quando os pomares foram divididos entre três classes com diferentes tamanhos de copas, o desempenho em produtividade e as características do solo foram distintas entre as três zonas, indicando que parâmetros de geometria de copa são variáveis úteis para a delimitação de unidades de gestão diferenciada em um pomar. Os resultados gerais desta pesquisa mostraram o potencial de sistemas MTLS para pomares de laranja, indicando como a geometria de copa pode ser utilizada na gestão localizada de pomares de laranja.

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Alshawa, Majd. « Contribution à la cartographie mobile : développement et caractérisation d’un système basé sur un scanner laser terrestre ». Strasbourg, 2009. https://publication-theses.unistra.fr/public/theses_doctorat/2010/ALSHAWA_Majd_2010.pdf.

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La cartographie mobile est un sujet qui se démocratise et gagne en maturité avec la demande croissante des données tridimensionnelles urbaines et périurbaines. La présente thèse aborde la conception d’un système de cartographie mobile terrestre à faible coût avec la particularité d’avoir adapté un scanner laser terrestre pour une utilisation en mode mobile à faible vitesse. Notre objectif n’est pas de rivaliser en termes de performances avec les systèmes commerciaux mais plutôt de s’approprier les compétences scientifiques et technologiques qui permettront de proposer des solutions dans le domaine de cartographie mobile. Les opérations préalables à la mise en route du système, tel que la synchronisation et l’étalonnage sont exposées. Puis, des méthodes basées sur l’ajustement des modèles polynomiaux sont développées pour convenir aux différents trajets parcourus. Les données issues des différents capteurs (GPS/AHRS/TLS) sont testées et filtrées avant de les intégrer dans l’équation de géoréférencement direct. Il en résulte un nuage de points corrigé. Une étude exhaustive sur l’effet des erreurs de chaque capteur sur le nuage de points résultant est établie. La précision théorique est confrontée avec des jeux des données de référence pour valider l’analyse des erreurs. Un appareil photo numérique calibré est intégré dans notre système en tant que capteur de navigation. Une solution photogrammétrique est proposée pour améliorer la précision de la trajectométrie préalablement calculée par l’intégration des données GPS/AHRS. Pour conclure la thèse, une ouverture vers la modélisation géométrique est proposée pour exploiter la géométrie et la précision des données laser terrestres fournies par le système. Le prototype développé permet de fournir des nuages de points d’une précision de l’ordre de 10 à 15cm à une distance moyenne de 20 m
Mobile mapping technology has been developing with the growing demand of three-dimensional urban and peri-urban data. This thesis approach is based on the design of a low cost terrestrial mobile mapping system with the adaptation of a Terrestrial Laser Scanner for low dynamics. Our goal is not to compete in performance with commercial systems but rather to appropriate scientific and technological skills which will help in proposing solutions in the field of mobile mapping. Necessary operational settings, such as synchronization and calibration are explained. Then, some methods based on the adjustment of polynomial models are developed according to the traveled paths. Data from various sensors (GPS/ AHRS/TLS) are filtered and tested before their integration by direct georeferencing equation in order to produce a correct point cloud. A comprehensive study on the influence of errors of each sensor on the resulting point cloud is established. The theoretical precision is compared with reference data in order to validate the error analyze. A digital calibrated camera is integrated in the system as a navigation sensor. A photogrammetric solution is proposed to improve the accuracy of the orientation and the position calculated by integrating GPS/ AHRS. At the end of this thesis, an approach towards automatic modeling is proposed to make use of the geometry and precision provided by the system. The designed prototype supplies point clouds whose precision is about 10 to15 cm at the average distance of 20 m

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Rascão, Madalena da Silva Ruivo Coreixas. « Aquisição de dados LiDAR com TLS e HMLS para deteção de árvores individuais ». Master's thesis, ISA, 2019. http://hdl.handle.net/10400.5/21291.

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Mestrado em Engenharia Florestal e dos Recursos Naturais / Instituto Superior de Agronomia. Universidade de Lisboa
LiDAR (Light Detection And Ranging) é um sistema baseado nos princípios de Deteção Remota que permite medir distâncias com base no tempo da trajetória da radiação laser, desde que é emitida pelo aparelho até que retorna ao recetor depois de ser refletida numa superfície sólida. A aplicabilidade deste sistema é abrangente a várias áreas da engenharia e prende-se com a capacidade que o mesmo tem de recolher e armazenar dados tridimensionais em forma de nuvens de pontos de qualquer objeto sólido sobre a superfície terrestre. No sector florestal, este sistema permite estimar características dos povoamentos e digitalizar uma extensa área de floresta, de uma forma automatizada, rápida e com detalhe na ordem dos milímetros. O objetivo do presente trabalho é avaliar a capacidade do sistema LiDAR na individualização da árvore comparando as coordenadas estimadas obtidas com dois métodos LiDAR - HMLS (Held-Hand Mobile Laser Scanner) e TLS (Terrestrial Taser Scanner) - com as coordenadas obtidas com GPS sub-métrico, pelo método tradicional de campo, num ensaio clonal de Eucalyptus globulus Labill. com 10 anos de idade. O presente estudo serviu também como primeira abordagem ao desempenho dos dois métodos LiDAR na obtenção de diâmetros às várias alturas do tronco, recorrendo aos algoritmos disponíveis no software R. Para a deteção das árvores individuais, os resultados demonstraram que, em média, o método TLS detetou 65,1% das árvores, enquanto o método HMLS detetou 44,7% das árvores, para todas as parcelas de estudo. Comprovou-se ainda que o levantamento com HMLS só é vantajoso para terrenos regulares e percursos retos. Concluiu-se que deve ser efetuada uma melhoria nos processos associados à utilização do algoritmo SLAM (Simultaneous Localization And Mapping) e salientou-se a importância de utilizar pontos de referência em campo para a obtenção de nuvens de pontos de melhor qualidade
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Mulè, Leonardo. « Low-cost survey solutions to support HBIM - Two case studies : the Azurém Canteen and Paço dos Duques in Portugal ». Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022.

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Heritage Building Information Modelling is strongly connected with the need for accurate surveys, both because BIM models are not usually available and because of the historical buildings’ peculiarity. But acquiring those data demands the involvement of additional costly stakeholders, and that limits the widespread use of LiDAR technologies. New smart devices supplied with this technology may allow customers to acquire point clouds with a different approach, giving us more and more possibilities of easily acquiring a point cloud, possibly omitting the use of expensive equipment and the stakeholders (the surveyors) involved in their use; for example, the latest hardware installed by Apple on their devices come equipped with a LiDAR sensor and their patented True Depth algorithm, offering cheap alternatives in acquiring 3D scans. This thesis wants to deal with the comparison of different approaches of acquiring a point cloud, by exploring multiples possibilities and risks of using this new technology, starting from a review of the scientific literature on the subject, and then comparing the results of the different methodologies by using different point clouds realized by devices in three price range (namely a BLK2GO, a LEICA P20 laser scanner and an iPhone 12 PRO) using a series of buildings as case studies, focusing on heritage buildings. For this purpose, a series of scans will be analysed metrically and quantitatively, to understand their accuracy and recognize which level of accuracy (LOA) can be reached, and so understand which purpose this new low-priced technologies can be used for.

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Smearcheck, Mark A. « Investigation of Dual Airborne Laser Scanners for Detection and State Estimation of Mobile Obstacles in an Aircraft External Hazard Monitor ». Ohio University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1212687342.

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Yoo, Hyun-Jae. « Analyse et conception de scanners laser mobiles dédiés à la cartographie 3D d'environnements urbains ». Phd thesis, École Nationale Supérieure des Mines de Paris, 2011. http://pastel.archives-ouvertes.fr/pastel-00579965.

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Cette thèse a été effectuée en collaboration entre le Centre de Robotique CAOR de MINES ParisTech et MENSI-Trimble sous convention CIFRE (Convention Industrielle de Formation par la Recherche), afin de concevoir un nouveau système de scanner laser innovant dédié aux systèmes mobiles de cartographie. Pour cela, nous avons développé une méthode d'analyse qualitative des relevés laser et une démarche de conception par simulation d'un système mobile de cartographie. Nous avons ensuite élaboré plusieurs concepts de scanners laser mobiles. A l'aide du simulateur, nous avons virtuellement réalisé ces concepts et avons fait des acquisitions simulées afin d'analyser les données. Après avoir obtenu les résultats de l'analyse, nous avons choisi un concept, réalisé son prototypage et effectué son évaluation en situation réelle.

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Nalani, Hetti Arachchige [Verfasser], Hans-Gerd [Akademischer Betreuer] Maas, Eberhard [Akademischer Betreuer] Gülch et Norbert [Akademischer Betreuer] Haala. « Automatic Reconstruction of Urban Objects from Mobile Laser Scanner Data / Hetti Arachchige Nalani. Gutachter : Hans-Gerd Maas ; Eberhard Gülch ; Norbert Haala. Betreuer : Hans-Gerd Maas ». Dresden : Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2015. http://d-nb.info/1069093025/34.

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Jensfelt, Patric. « Approaches to Mobile Robot Localization in Indoor Environments ». Doctoral thesis, Stockholm : Tekniska högsk, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3194.

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Schubert, Stefan. « Optimierter Einsatz eines 3D-Laserscanners zur Point-Cloud-basierten Kartierung und Lokalisierung im In- und Outdoorbereich ». Master's thesis, Universitätsbibliothek Chemnitz, 2015. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-161415.

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Die Kartierung und Lokalisierung eines mobilen Roboters in seiner Umgebung ist eine wichtige Voraussetzung für dessen Autonomie. In dieser Arbeit wird der Einsatz eines 3D-Laserscanners zur Erfüllung dieser Aufgaben untersucht. Durch die optimierte Anordnung eines rotierenden 2D-Laserscanners werden hochauflösende Bereiche vorgegeben. Zudem wird mit Hilfe von ICP die Kartierung und Lokalisierung im Stillstand durchgeführt. Bei der Betrachtung zur Verbesserung der Bewegungsschätzung wird auch eine Möglichkeit zur Lokalisierung während der Bewegung mit 3D-Scans vorgestellt. Die vorgestellten Algorithmen werden durch Experimente mit realer Hardware evaluiert.

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Chapitres de livres sur le sujet "Laser scanner mobile"

Jensen, B., G. Ramel et R. Siegwart. « Detecting Semi-static Objects with a Laser Scanner ». Dans Autonome Mobile Systeme 2003, 21–31. Berlin, Heidelberg : Springer Berlin Heidelberg, 2003. http://dx.doi.org/10.1007/978-3-642-18986-9_3.

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Flores-Rodríguez, K. L., J. J. González-Barbosa, F. J. Ornelas-Rodríguez, J. B. Hurtado-Ramos et P. A. Ramirez-Pedraza. « Road Signs Segmentation Through Mobile Laser Scanner and Imagery ». Dans Advances in Computational Intelligence, 376–89. Cham : Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-60887-3_33.

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Zuñiga-Noël, David, Jose-Raul Ruiz-Sarmiento et Javier Gonzalez-Jimenez. « Intrinsic Calibration of Depth Cameras for Mobile Robots Using a Radial Laser Scanner ». Dans Computer Analysis of Images and Patterns, 659–71. Cham : Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-29888-3_54.

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Liu, Tianyu, Ye Gu, Weihua Sheng, Yongqiang Li et Yongsheng Ou. « Detection and Tracking of Moving Objects for Indoor Mobile Robots with a Low-Cost Laser Scanner ». Dans Artificial Intelligence and Mobile Services – AIMS 2018, 243–50. Cham : Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-94361-9_19.

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Yu, Jinxia, Zixing Cai et Zhuohua Duan. « Mobile Robot Self-localization Based on Feature Extraction of Laser Scanner Using Self-organizing Feature Mapping ». Dans Advances in Neural Networks – ISNN 2007, 743–48. Berlin, Heidelberg : Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-72383-7_87.

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Donati Sarti, Giulio, Mauro Busa, Gabriele Garnero, Andrea Magnani et Ivano Rossato. « An Open-Source Approach to Modelling and Analysing a Tree Detected with a Mobile Laser Scanner ». Dans Geomatics for Green and Digital Transition, 275–86. Cham : Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-17439-1_20.

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Gonçalves, José, João Paulo Coelho, Manuel Braz-César et Paulo Costa. « Performance Enhancement of a Neato XV-11 Laser Scanner Applied to Mobile Robot Localization : A Stochastic Modeling Approach ». Dans Lecture Notes in Electrical Engineering, 49–62. Cham : Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58653-9_5.

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Escolà, A., J. A. Martínez-Casasnovas, J. Rufat, A. Arbonés, R. Sanz, F. Sebé, J. Arnó et al. « A mobile terrestrial laser scanner for tree crops : point cloud generation, information extraction and validation in an intensive olive orchard ». Dans Precision agriculture '15, 337–44. The Netherlands : Wageningen Academic Publishers, 2015. http://dx.doi.org/10.3920/978-90-8686-814-8_41.

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Skrzypczyński, Piotr. « Practical Insights on Automotive SLAM in Urban Environments ». Dans Autonomous Mobile Mapping Robots [Working Title]. IntechOpen, 2022. http://dx.doi.org/10.5772/intechopen.108262.

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This chapter tackles the issues of simultaneous localization and mapping (SLAM) using laser scanners or vision as a viable alternative to the accurate modes of satellite-based localization, which are popular and easy to implement with modern technology but might fail in many urban scenarios. This chapter considers two state-of-the-art localization algorithms, LOAM and ORB-SLAM3 that use the optimization-based formulation of SLAM and utilize laser and vision sensing, respectively. The focus is on the practical aspects of localization and the accuracy of the obtained trajectories. It contributes to a series of experiments conducted using an electric car equipped with a carefully calibrated multisensory setup with a 3D laser scanner, camera, and a smartphone for collecting the exteroceptive measurements. Results of applying the two different SLAM algorithms to the data sequences collected with the vehicle-based multisensory setup clearly demonstrate that not only the expensive laser sensors but also monocular vision, including the commodity smartphone camera, can be used to obtain off-line reasonably accurate vehicle trajectories in an urban environment.

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ŁABĘCKI, Przemysław, Michał NOWICKI et Piotr SKRZYPCZYŃSKI. « CHARACTERIZATION OF THE MEASUREMENT ERRORS IN A MINIATURE LASER SCANNER FOR WALKING ROBOTS ». Dans Adaptive Mobile Robotics, 739–46. WORLD SCIENTIFIC, 2012. http://dx.doi.org/10.1142/9789814415958_0094.

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Actes de conférences sur le sujet "Laser scanner mobile"

Podsedkowski, L., J. Nowakowski, M. Idzikowski et I. Visvary. « Online navigation of mobile robots using laser scanner ». Dans Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353). IEEE, 1999. http://dx.doi.org/10.1109/romoco.1999.791082.

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Sobreira, Heber, A. Paulo Moreira, Paulo Gomes Costa et Jose Lima. « Robust Mobile Robot Localization Based on Security Laser Scanner ». Dans 2015 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC). IEEE, 2015. http://dx.doi.org/10.1109/icarsc.2015.28.

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Morita, Kakeru, Masafumi Hashimoto et Kazuhiko Takahashi. « Point-Cloud Mapping and Merging Using Mobile Laser Scanner ». Dans 2019 Third IEEE International Conference on Robotic Computing (IRC). IEEE, 2019. http://dx.doi.org/10.1109/irc.2019.00078.

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Wilson, Scott, Johan Potgieter et Khalid Arif. « Floor surface mapping using mobile robot and 2D laser scanner ». Dans 2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). IEEE, 2017. http://dx.doi.org/10.1109/m2vip.2017.8211508.

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Xiao, Qinghua, Fuchun Sun, Rui Ge, Kunlun Chen et Bin Wang. « Human tracking and following of mobile robot with a laser scanner ». Dans 2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, 2017. http://dx.doi.org/10.1109/icarm.2017.8273243.

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Jianhua Wang, Bing Li, Weihai Chen et Lixia Rong. « 3D reconstruction embedded system based on laser scanner for mobile robot ». Dans 2008 3rd IEEE Conference on Industrial Electronics and Applications (ICIEA). IEEE, 2008. http://dx.doi.org/10.1109/iciea.2008.4582604.

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zhang, Heng, Yanhong Ge et Wenfeng Li. « Human Following of Mobile Robot With a Low-cost Laser Scanner ». Dans 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC). IEEE, 2019. http://dx.doi.org/10.1109/smc.2019.8914440.

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El-Halawany, Sherif Ibrahim, et Derek D. Lichti. « Detection of Road Poles from Mobile Terrestrial Laser Scanner Point Cloud ». Dans 2011 International Workshop on Multi-Platform/Multi-Sensor Remote Sensing and Mapping (M2RSM). IEEE, 2011. http://dx.doi.org/10.1109/m2rsm.2011.5697364.

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Zi-xing Cai, Jin-xia Yu, Xiao-bing Zou et Zhou-hua Duan. « A 3-D perceptual method based on laser scanner for mobile robot ». Dans 2005 IEEE International Conference on Robotics and Biomimetics - ROBIO. IEEE, 2005. http://dx.doi.org/10.1109/robio.2005.246346.

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Gu, Dongbing, et Zhengxun Song. « Laser-scanner-based self-localization for autonomous mobile robots using neural network ». Dans Photonics China '98, sous la direction de Shenghua Ye. SPIE, 1998. http://dx.doi.org/10.1117/12.318427.

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Rapports d'organisations sur le sujet "Laser scanner mobile"

Coastal Lidar And Radar Imaging System (CLARIS) mobile terrestrial lidar survey along the Outer Banks, North Carolina in Currituck and Dare counties. Coastal and Hydraulics Laboratory (U.S.), janvier 2020. http://dx.doi.org/10.21079/11681/39419.

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The Coastal Observation and Analysis Branch (COAB) located at the Field Research Facility (FRF) conducts quarterly surveys and post-storm surveys along up to 60 kilometers of coastline within the vicinity of the FRF to assess, evaluate, and provide updated observations of the morphology of the foreshore and dune system. The surveys are conducted using a mobile terrestrial LiDAR scanner coupled with an Inertial Navigation System (INS). Traditionally the surveys coincide with a low tide, exposing the widest swath of visible sediment to the scanner as well as enough wind-sea swell or texture to induce wave breaking upon the interior sandbars. The wave field is measured with X-Band radar which records a spatial time series of wave direction and speed. Data for the survey region was collected using the VZ-2000's mobile, 3D scanning mode where the scanner continuously rotates the line scan 360 degrees as the vehicle progresses forward. Elevation measurements are acquired on all sides of the vehicle except for the topography directly underneath the vehicle. As the vehicle moves forward, the next rotation will capture the previous position's occluded data area. Laser data is acquired in mobile 3D radar mode with a pulse repetition rate of 300kHz, theta resolution of 0.19 degrees and phi resolution of 0.625 degrees. Horizontal Datum NAD83(2011), Projection North Carolina State Plane (3200) meters; Vertical Datum NAVD88, meters with geoid09 applied.

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