Detection of grass using laser scanner
Smart vehicle is an rapidly increasing field. The ultimate goal is to develop the ability for our cars to travel without human control. As a result, the necessity of applying sensing system becomes more and more important. Laser range finder is a kind of sensor which can provide real-time a...
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
| Published: |
2015
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| Online Access: | http://hdl.handle.net/10356/65079 |
| _version_ | 1811685424238690304 |
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| author | Liu, Dawen |
| author2 | Wang Dan Wei |
| author_facet | Wang Dan Wei Liu, Dawen |
| author_sort | Liu, Dawen |
| collection | NTU |
| description | Smart vehicle is an rapidly increasing field. The ultimate goal is to develop the
ability for our cars to travel without human control. As a result, the necessity of
applying sensing system becomes more and more important. Laser range finder is a
kind of sensor which can provide real-time and accurate distance information.
In this dissertation, a single laser range finder is used to scan the surroundings.
These data are processed to produce the detection result. Main objective of the
work is to distinguish grass and non-grass and reflect the result in RVIZ. The main
algorithm is to do segmentation first, then use the points of each segment to fit a
line, and finally, calculate the covariance and compare the covariance to a threshold. |
| first_indexed | 2024-10-01T04:44:18Z |
| format | Thesis |
| id | ntu-10356/65079 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:44:18Z |
| publishDate | 2015 |
| record_format | dspace |
| spelling | ntu-10356/650792023-07-04T15:36:10Z Detection of grass using laser scanner Liu, Dawen Wang Dan Wei School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation Smart vehicle is an rapidly increasing field. The ultimate goal is to develop the ability for our cars to travel without human control. As a result, the necessity of applying sensing system becomes more and more important. Laser range finder is a kind of sensor which can provide real-time and accurate distance information. In this dissertation, a single laser range finder is used to scan the surroundings. These data are processed to produce the detection result. Main objective of the work is to distinguish grass and non-grass and reflect the result in RVIZ. The main algorithm is to do segmentation first, then use the points of each segment to fit a line, and finally, calculate the covariance and compare the covariance to a threshold. Master of Science (Computer Control and Automation) 2015-06-15T01:11:02Z 2015-06-15T01:11:02Z 2014 2014 Thesis http://hdl.handle.net/10356/65079 en 75 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation Liu, Dawen Detection of grass using laser scanner |
| title | Detection of grass using laser scanner |
| title_full | Detection of grass using laser scanner |
| title_fullStr | Detection of grass using laser scanner |
| title_full_unstemmed | Detection of grass using laser scanner |
| title_short | Detection of grass using laser scanner |
| title_sort | detection of grass using laser scanner |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation |
| url | http://hdl.handle.net/10356/65079 |
| work_keys_str_mv | AT liudawen detectionofgrassusinglaserscanner |