High-density and homogeneous mapping using a motion controlled lidar

Canbolat, İsmail Melih
LiDAR is a commonly used method for mapping and obstacle detection in various robotics applications. With the advancement of technology, 3D scanning LiDAR sensors became widely available. Most 3D scanning LiDAR sensors have a 360° horizontal field of view, but they have a limited vertical field of view which is determined by the desired vertical scanning resolution and the number of laser scan layers. Limited number of horizontal layers in a LiDAR sensor introduces large gaps in the obtained point cloud map and the limited vertical field of view prevents stationary LiDAR sensors from being able to scan the environment completely. In this thesis work, a 3D scanning Velodyne Puck is used in a designed, motion controlled, two axis gimbal system. This motion control capability makes it possible to move the sensor in such a way that a more homogeneous, high-density point cloud map of the environment with increased and controlled field of view can be obtained. This improved point cloud map provides a good source of information to be used for object identification and SLAM algorithms. Additionally, with the help of the developed motion control algorithms for the designed system, the density distribution of the point cloud map obtained by the designed system was successfully focused on certain regions by increasing the density of the point cloud data at these regions.


Cerit, Kübra; Bek, Alpan; Department of Physics (2022-1-20)
In this thesis, optical system design, integration and testing of a compact LIDAR system with 270 degree field-of-view that based on time of flight principle is developed by Rekrom Optoelectronics. This system can identify objects and measure distances up to 100 m away. LIDAR has become a much needed and used technology in various fields. The most important of these areas are robotic systems, autonomous vehicles and unmanned aerial, land and sea platforms navigation and environmental awareness. The main r...
Compressive sensing imaging at Sub-THz frequency in transmission mode
Özkan, Vedat Ali; Menteşe, Yıldız; Takan, Taylan; Şahin, Asaf Behzat; Altan, Hakan (Springer, Dordrecht, 2017-01-01)
Due to lack of widespread array imaging techniques in the THz range, point detector applications coupled with spatial modulation schemes are being investigated using compressive sensing (CS) techniques. CS algorithms coupled with innovative spatial modulation schemes which allow the control of pixels on the image plane from which the light is focused onto single pixel THz detector has been shown to rapidly generate images of objects. Using a CS algorithm, the image of an object can be reconstructed rapidly....
Multifocal LIDAR Systems
Ürkmen, Koray; Yüce, Emre; Department of Micro and Nanotechnology (2022-8-29)
LIDAR systems are commonly used in automation applications, autonomous vehicles, military systems, and other new application areas that are increasingly expanding with the recent developments in LIDAR technology. LIDAR systems are used for getting 3 Dimensional information about the target which is very important for most of the advanced systems and algorithms that are used for the recognition and identification of objects. The most well-known distance measurement techniques for LIDAR systems are the direct...
Kalman filter based modification on helicopter adaptive control
Yavrucuk, İlkay (null; 2015-01-05)
In this paper, a Kalman Filter based e-modification term is used in the update law of an online learning adaptive neural network controller for a helicopter application. The controller is applied to a high fidelity helicopter simulation model. The applications include both an example on a single-input single-output controller structure using a linear in the parameter neural network, but also a multi-input multi-output neural network structure to compensate uncertainties in the attitude control of a helicopt...
Line-of-sight stabilization of a gimbaled mechanism under passive base isolation
Kandemir, Kutlu Demir; Akmese, Alper; Yazıcıoğlu, Yiğit (2014-01-01)
Line-of-sight stabilization is an important concept for aerospace applications utilizing gimbaled imaging systems. A widely used method for protecting the line-of-sight stabilization system from the disturbing effects of the base vibrations is to mount it on passive vibration isolators. However, these isolators may interact with gimbal controller and drastically limit the stabilization performance. This work deals with line-of-sight stabilization problem in aerospace structures by focusing on the parameters...
Citation Formats
İ. M. Canbolat, “High-density and homogeneous mapping using a motion controlled lidar,” M.S. - Master of Science, Middle East Technical University, 2023.