Data acquisition and processing interface development for 3D laser rangefinder

Çevikbaş, Orçun
In this study, it is aimed to improve the previously developed data acquisition program which was run under DOS and 2D surface reconstruction program under Windows. A new system is set up and both data acquisition and processing software are developed to collect and process data within just one application, running under Windows. The main goal of the thesis is to acquire and process the range data taken from the laser rangefinder in order to construct the 3D image map of simple objects in different positions for indoor environments. The data acquisition program collects data in helical way. To do this, appropriate parameters for the data acquisition interface are determined. In the data processing step, it is aimed to use basic triangulation algorithms and threshold conditions to calculate resolutions, detect noisy points and segment objects from the environment for line fitting. The developed and implemented data acquisition and processing interfaces in the thesis are capable of creating 3D image map and obtaining the view of scanned environment in a short time with high accuracy.


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The aim of this thesis is to create a flexible multi-purpose modular all terrain robot platform, which has the potential to be used in commercial applications as well as in education and research. In developing this robot platform, it is aimed to use readily available commercial products as much as possible in order to keep the cost of the product low, increase maintainability, and benefit from the improvements made to these components in time. The modularity is attained by designing a two wheeled base modu...
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In this thesis study, it is aimed to improve the performance of an Internet-based teleoperation system enabling the remote operation of a 6 DOF industrial robot. In order to improve the safety and efficiency of the teleoperation, stability and synchronization (hand-eye coordination) are considered. The selected communication medium between the human operator and remote robot is the Internet. The variable time delays and nondeterministic characteristics of the Internet may lead to instability of the teleoper...
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Recent Improvements in document image systems and their low-cost implementation on networks of microcomputers is leading to the reengineering of many information systems. We describe how document image systems can be applied to information systems. In order to compare the performance of a conventional information system with one implemented with document imaging processing capability we conducted a discrete event simulation. We modeled the conventional information system for processing graduate student ...
Using Computer Spreadsheets in Teaching Mechanisms
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In this paper the use of widely available user friendly spreadsheet programs such as Microsoft (R) Excel in teaching mechanisms is explained and its advantages over off-the-shelf programs are shown. Instead of using specific costly programs for the analysis and synthesis of different mechanisms, the students are first thought certain features of Excel and later starting with the analysis of single loop mechanisms, the solution of more complex problems in the analysis and synthesis of mechanisms are attempte...
Modular embedded system design / implementation for mechatronic education and research
Nursal, Ali Özgü; Koku, Ahmet Buğra; Department of Mechanical Engineering (2007)
In this thesis a modular embedded system for Mechatronics education and research is designed and implemented. Four types of control boards are manufactured and related software is developed at board and PC level. A star like topology is used for boards architecture. One bridge board is responsible for handling communication between the PC and all the other boards that are connected independently to that bridge board. For PC communication Universal Seial Bus (USB), for inter peripheral communication serial p...
Citation Formats
O. Çevikbaş, “Data acquisition and processing interface development for 3D laser rangefinder,” M.S. - Master of Science, Middle East Technical University, 2006.