Engineering Commons^™

Inspex: Optimize Range Sensors For Environment Perception As A Portable System, Julie Foucault, Suzanne Lesecq, Gabriela Dudnik, Marc Correvon, Rosemary O’Keeffe, Vincenza Di Palma, Marco Passoni, Fabio Quaglia, Laurent Ouvry, Steven Buckley, Jean Herveg, Andrea Di Matteo, Tiana Rakotovao, Olivier Debicki, Nicolas Mareau, John Barrett, Susan Rea, Alan Mcgibney, François Birot, Hugues De Chaumont, Richard Banach, Joseph Razavi, Cian Ó’Murchú

NIMBUS Articles

Environment perception is crucial for the safe navigation of vehicles and robots to detect obstacles in their surroundings. It is also of paramount interest for navigation of human beings in reduced visibility conditions. Obstacle avoidance systems typically combine multiple sensing technologies (i.e., LiDAR, radar, ultrasound and visual) to detect various types of obstacles under different lighting and weather conditions, with the drawbacks of a given technology being offset by others. These systems require powerful computational capability to fuse the mass of data, which limits their use to high-end vehicles and robots. INSPEX delivers a low-power, small-size and lightweight environment perception …

A Multi-Sensor Phenotyping System: Applications On Wheat Height Estimation And Soybean Trait Early Prediction, Wenan Yuan

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

Phenotyping is an essential aspect for plant breeding research since it is the foundation of the plant selection process. Traditional plant phenotyping methods such as measuring and recording plant traits manually can be inefficient, laborious and prone to error. With the help of modern sensing technologies, high-throughput field phenotyping is becoming popular recently due to its ability of sensing various crop traits non-destructively with high efficiency. A multi-sensor phenotyping system equipped with red-green-blue (RGB) cameras, radiometers, ultrasonic sensors, spectrometers, a global positioning system (GPS) receiver, a pyranometer, a temperature and relative humidity probe and a light detection and ranging (LiDAR) …

Sensor System For Rescue Robots, Alexander Moran, Emir Kusculu

Electrical and Computer Engineering Senior Theses

A majority of rescue worker fatalities are a result of on-scene responses. Existing technologies help assist the first responders in scenarios of no light, and there even exist robots that can navigate radioactive areas. However, none are able to be both quickly deployable and enter hard to reach or unsafe areas in an emergency event such as an earthquake or storm that damages a structure. In this project we created a sensor platform system to augment existing robotic solutions so that rescue workers can search for people in danger while avoiding preventable injury or death and saving time and resources. …

Development Of A Methodology For The Evalutation Of Uav-Based Photogrammetry: Implementation At An Underground Mine, Rachel Becker

Graduate Theses & Non-Theses

Autonomous systems in underground mining are increasingly being implemented as tools to collect data in inaccessible areas and improve the safety of mine personnel. There are many areas in the underground mining environment that cannot be accessed by personnel due to the high potential for ground fall and insufficient ground support. By combining unmanned aerial vehicles (UAVs) with technologies such as photogrammetry and LiDAR (Light Detection and Ranging) scanners, 3D point clouds can be created for inaccessible sites. A 3D digital point cloud can provide valuable geotechnical information such as the ability to measure discontinuities, inspect rock conditions, generate accurate …

Developing A Method To Identify Horizontal Curve Segments With High Crash Occurrences Using The Haf Algorithm, Joseph Stuart Browning

Theses and Dissertations

Crashes occur every day on Utah’s roadways. Curves can be particularly dangerous as they require driver focus due to potentially unseen hazards. Often, crashes occur on curves due to poor curve geometry, a lack of warning signs, or poor surface conditions. This can create conditions in which vehicles are more prone to leave the roadway, and possibly roll over. These types of crashes are responsible for many severe injuries and a few fatalities each year, which could be prevented if these areas are identified. This highlights a need for identification of curves with high crash occurrences, particularly on a network-wide …

Multi-Frame Fusion Method For Point Cloud Of Lidar Based On Imu, Yanguo Zhang, Li Qing

Journal of System Simulation

Abstract: Aiming at the problem that in the process of using 16-line laser radar to realize environment perception, the point cloud data is sparse, which leads to the difficulty of target detection and tracking, a new method of LiDAR point cloud fusion based on inertial measurement unit (IMU) is proposed. The method establishes a multi-frame LiDAR point cloud data fusion model, which can effectively use historical point cloud data and detection results to obtain more environmental information, and improve the detection accuracy and tracking ability of target objects. 16-line laser radar and the self-developed IMU sensor are used to conduct …

Performance Validation Of A Multi-Channel Lidar Sensor: Assessing The Effects Of Target Height And Sensor Velocity On Measurement Error, Surya S. Dasika, Michael P. Sama, L. Felipe Pampolini, Christopher B. Good

Biosystems and Agricultural Engineering Faculty Publications

The objective of this study was to determine the effects of sensor velocity and target height above ground level on height measurement error when using a multi-channel LiDAR sensor. A linear motion system was developed to precisely control the dynamics of the LiDAR sensor in an effort to remove uncertainty in the LiDAR position and velocity while under motion. The linear motion system allowed the LiDAR to translate forward and backward in one direction parallel to the ground. A user control interface was developed to operate the system under different velocity profiles and to log LiDAR data synchronous to the …

Using Lidar To Measure Subsurface Movement Of Slow-Moving Landslides And Study The Interaction Between The Soil And Lidar Scanning Targets, Chengxun Lu

Doctoral Dissertations

"Terrestrial Laser Scanning (TLS) technology has been used for predicting and researching geological hazards for two decades. This research focuses on using LiDAR (Light Detection And Ranging) to measure the slow-moving displacement of both surface and subsurface soil of landslides. Two kinds of computer simulation software, FLAC3D® and PFC3D® were used to simulate the landslide process to compare with the LiDAR scanning results.

The primary contributions from this research are as follows:

1. Several error tests were done to prove that the three-dimensional LiDAR scanner used in this research can precisely obtain the three-dimensional position, the displacement and the rotational …