scholarly journals Multiple Internet of Robotic Things robots based on LiDAR and camera sensors

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091376
Author(s):  
Yanyan Dai ◽  
Suk Gyu Lee
Keyword(s):  
Mobile Robots ◽  
Sliding Mode ◽  
System Structure ◽  
Light Detection And Ranging ◽  
Sensor Data ◽  
The Internet ◽  
Depth Camera ◽  
Multiple Robots ◽  
Light Detection ◽  
Camera Sensors

A combination of Internet of Things and multiple robots with sensors has been an attractive research topic over the past years. This article proposes an Internet of Robotic Things system structure to monitor events, fuse sensor data, use local robots to determine a best action, and then act to control multiple mobile robots. The Internet of Robotic Things system includes two main layers: the host controller layer and the multiple robots layer. The controller layer communicates with the multiple robots layer by Wi-Fi module. The Internet of Robotic Things system helps finish five tasks: localizing robots, planning paths, avoiding obstacles, moving to waypoint stable, and creating a map. Based on depth data from depth camera and robot posture, a mapping algorithm is proposed to create map. Based on light detection and ranging sensor data and google cartographer, simultaneously localization and mapping (SLAM) is also processed in this article. The fuzzy sliding mode tracking control method is proposed for each robot to guarantee the robot stable moves. Simulation results show the effectiveness of the proposed algorithm and are used to compare with the experiment result. In the experiment, one host computer and two Kobuki mobile robots with light detection and ranging and depth camera sensors are integrated as an Internet of Robotic Things system. Two robots successfully localize themselves and avoid obstacles. The follower robot simultaneously builds a map.

scholarly journals On-Ground Vineyard Reconstruction Using a LiDAR-Based Automated System

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1102 ◽  
Author(s):  
Hugo Moreno ◽  
Constantino Valero ◽  
José María Bengochea-Guevara ◽  
Ángela Ribeiro ◽  
Miguel Garrido-Izard ◽  
...  
Keyword(s):  
Point Cloud ◽  
3D Structure ◽  
Point Clouds ◽  
Light Detection And Ranging ◽  
Sensor Data ◽  
Automated System ◽  
Light Detection ◽  
3D Point Clouds ◽  
High Sampling ◽  
Rtk Gps

Crop 3D modeling allows site-specific management at different crop stages. In recent years, light detection and ranging (LiDAR) sensors have been widely used for gathering information about plant architecture to extract biophysical parameters for decision-making programs. The study reconstructed vineyard crops using light detection and ranging (LiDAR) technology. Its accuracy and performance were assessed for vineyard crop characterization using distance measurements, aiming to obtain a 3D reconstruction. A LiDAR sensor was installed on-board a mobile platform equipped with an RTK-GNSS receiver for crop 2D scanning. The LiDAR system consisted of a 2D time-of-flight sensor, a gimbal connecting the device to the structure, and an RTK-GPS to record the sensor data position. The LiDAR sensor was facing downwards installed on-board an electric platform. It scans in planes perpendicular to the travel direction. Measurements of distance between the LiDAR and the vineyards had a high spatial resolution, providing high-density 3D point clouds. The 3D point cloud was obtained containing all the points where the laser beam impacted. The fusion of LiDAR impacts and the positions of each associated to the RTK-GPS allowed the creation of the 3D structure. Although point clouds were already filtered, discarding points out of the study area, the branch volume cannot be directly calculated, since it turns into a 3D solid cluster that encloses a volume. To obtain the 3D object surface, and therefore to be able to calculate the volume enclosed by this surface, a suitable alpha shape was generated as an outline that envelops the outer points of the point cloud. The 3D scenes were obtained during the winter season when only branches were present and defoliated. The models were used to extract information related to height and branch volume. These models might be used for automatic pruning or relating this parameter to evaluate the future yield at each location. The 3D map was correlated with ground truth, which was manually determined, pruning the remaining weight. The number of scans by LiDAR influenced the relationship with the actual biomass measurements and had a significant effect on the treatments. A positive linear fit was obtained for the comparison between actual dry biomass and LiDAR volume. The influence of individual treatments was of low significance. The results showed strong correlations with actual values of biomass and volume with R2 = 0.75, and when comparing LiDAR scans with weight, the R2 rose up to 0.85. The obtained values show that this LiDAR technique is also valid for branch reconstruction with great advantages over other types of non-contact ranging sensors, regarding a high sampling resolution and high sampling rates. Even narrow branches were properly detected, which demonstrates the accuracy of the system working on difficult scenarios such as defoliated crops.

scholarly journals Using Airborne Light Detection and Ranging (LIDAR) to Characterize Forest Stand Condition on the Kenai Peninsula of Alaska

2009 ◽  
Vol 24 (2) ◽  
pp. 95-102 ◽  
Author(s):  
Hans-Erik Andersen
Keyword(s):  
Forest Inventory ◽  
Laser Scanning ◽  
Three Dimensional ◽  
Grid Cell ◽  
Forest Stand ◽  
Light Detection And Ranging ◽  
Inventory Analysis ◽  
Light Detection ◽  
Individual Tree ◽  
Kenai Peninsula

Abstract Airborne laser scanning (also known as light detection and ranging or LIDAR) data were used to estimate three fundamental forest stand condition classes (forest stand size, land cover type, and canopy closure) at 32 Forest Inventory Analysis (FIA) plots distributed over the Kenai Peninsula of Alaska. Individual tree crown segment attributes (height, area, and species type) were derived from the three-dimensional LIDAR point cloud, LIDAR-based canopy height models, and LIDAR return intensity information. The LIDAR-based crown segment and canopy cover information was then used to estimate condition classes at each 10-m grid cell on a 300 × 300-m area surrounding each FIA plot. A quantitative comparison of the LIDAR- and field-based condition classifications at the subplot centers indicates that LIDAR has potential as a useful sampling tool in an operational forest inventory program.

Precision and shortcomings of yaw error estimation using spinner-based light detection and ranging

Wind Energy ◽  
2012 ◽  
Vol 16 (3) ◽  
pp. 353-366 ◽  
Author(s):  
Knud A. Kragh ◽  
Morten H. Hansen ◽  
Torben Mikkelsen
Keyword(s):  
Error Estimation ◽  
Light Detection And Ranging ◽  
Light Detection

Hybrid Integrated Silicon NitridePolymer Optical Phased Array for Efficient Light Detection and Ranging

2021 ◽  
pp. 1-1
Author(s):  
Chul-Soon Im ◽  
Sung-Moon Kim ◽  
Kyeong-Pyo Lee ◽  
Seong-Hyeon Ju ◽  
Jung-Ho Hong ◽  
...  
Keyword(s):  
Phased Array ◽  
Light Detection And Ranging ◽  
Light Detection ◽  
Optical Phased Array

Hardware-in-the-loop projector system for light detection and ranging sensor testing

2012 ◽  
Vol 51 (8) ◽  
pp. 083609-1 ◽  
Author(s):  
Hajin J. Kim ◽  
Charles B. Naumann ◽  
Michael C. Cornell
Keyword(s):  
Light Detection And Ranging ◽  
Hardware In The Loop ◽  
Light Detection

Integrating lidar and geophysical surveys at Falerii Novi and Falerii Veteres (Viterbo)

2009 ◽  
Vol 77 ◽  
pp. 1-27 ◽  
Author(s):  
Rachel Opitz
Keyword(s):  
Sono State ◽  
Light Detection And Ranging ◽  
Light Detection ◽  
Geophysical Surveys

La città romana di Falerii Novi e quella pre-romana di Falerii Veteres vengono riviste in questo articolo attraverso la combinazione di dati da ricognizione lidar (light detection and ranging) e geofisica. La ricognizione lidar fornisce per la prima volta infomiazioni dettagliate sui bordi topograficamente complessi di questi siti e ha permesso di identificare un certo numero di nuove strutture. Osservando tali strutture nel contesto dei dati topografici e geofisici, sono state esplorate le aree urbane periferiche sia come zone per movimento sia come facciate. Tramite questi esempi vengono considerati i potenziali contributi forniti dal lidar alla comprensione generale dell'urbanismo pre-romano e romano.

Discrete-time decentralized inverse optimal neural control combined with sliding mode for mobile robots

2014 ◽  
Author(s):  
Michel Lopez-Franco ◽  
Edgar N. Sanchez ◽  
Alma Y. Alanis ◽  
Carlos Lopez-Franco ◽  
Nancy Arana-Daniel
Keyword(s):  
Mobile Robots ◽  
Discrete Time ◽  
Neural Control ◽  
Sliding Mode

scholarly journals Application of Filtration System in the Network Security

2012 ◽  
Vol 4 ◽  
pp. 38-42
Author(s):  
Jin Liang Bian
Keyword(s):  
Network Security ◽  
Information Filtering ◽  
System Structure ◽  
Estimation Methods ◽  
The Internet ◽  
Key Technology ◽  
Network Information ◽  
Filtration System

With the Internet spread and deepening of the application, the development of enterprises Internet and e-commerce business has become an inevitable trend. Network security has drawn more and more attention. Therefore, it is necessary to monitor network information real-timely by using an effective information filtering systems in the network security. So the paper discussed the system structure, the estimation methods and key technology of the Network Information Filtering System in the general and in detail.

Sign in / Sign up

Export Citation Format

Share Document