3D imaging via binary wavefront modulation for lidar and machine vision applications

Download

12625928.pdf

Date

2020-11-2

Author

Yüksel, Çağdaş Anıl

Metadata

Show full item record

Item Usage Stats

458
views

331
downloads

Autonomous vehicles have proven to be very efficient in daily routine jobs and their impact will continue to increase given the recent developments in artificial intelligence, boosted by increased computation capacity. These vehicles are generally equipped with 2D imaging sensors and asked to accomplish tasks in a 3D world, which hamper their functionalities. In this study, we experimentally investigate and develop 3D imaging technologies. We first demonstrate colorful 3D imaging via time of flight measurements in order to map the target scene to a 3D point cloud data and secondly perform triangulation method. For time of flight measurements, we employ a digital micro-mirror device with a resolution of 1920x1080 and a range finder in order to scan the target. We scan the target with a resolution of 8x2, 16x2, and 8x4 using our first method. Second, we employ structured light method to scan the target in 3D using again the digital micro-mirror device in conjunction with a white light source. Using triangulation, we were able to scan the target with a resolution 1920x1080. Our results indicate that in terms of resolution triangulation method gives better results. We can foresee that triangulation and time of flight measurement methods are combined a robust and high-resolution 3D vision can be developed which will increase vision capabilities of autonomous vehicles that shape our future

Subject Keywords

LIDAR, 3D Imaging, Digital micro mirror device, Digital light processing, Machine vision

URI

https://hdl.handle.net/11511/69168

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Feedback Motion Planning For a Dynamic Car Model via Random Sequential Composition Özcan, Melih; Ankaralı, Mustafa Mert (2019-01-01) Autonomous cars and car-like robots have gained huge popularity recently due to the recent advancements in technology and AI industry. Motion and path planning is one of the most fundamental problems for such systems. In the literature, kinematic models are widely adopted for planning and control for these type of robots due to their simplicity (control and analysis) and fewer computational requirements. Though, applicability of kinematic models are limited to very low speeds or some specific cases, which c...
Semi-supervised iterative teacher-student learning for monocular depth estimation Süvari, Cemal Barışkan; Halıcı, Uğur; Department of Electrical and Electronics Engineering (2021-2-18) Advances in robotics area and autonomous vehicles have increased the need for accurate depth measurements. Depth estimation is one of the oldest problems of computer vision area. While the depth can be estimated by using many methods, finding a cheap and efficient way of doing it was studied for many years. Although, depth measurements using Lidar sensors or RGB-D cameras provides accurate results, due to cost and narrow applicability they are not very effective. On the other hand, using deep learning archi...
Simulation of Dynamic Operation in Salient Pole Synchronous Machines Dordea, Toma; Munteanu, Radu; Campeanu, Aurel (2011-09-10) The design of today's high performance synchronous motors must take into account not only the steady state but also practically inevitable dynamic regimes. In such conditions an accurate predetermination of the parameters and constructive solution by modeling and simulation of the given dynamic operation, becomes a mandatory step. In this aim, in the present paper a novel mathematical model of the high power salient pole synchronous machine (SPSM) is elaborated. We proposed to consider especially the effect...
Collaborative building control: a conceptual mixed-initiative framework Topak, Fatih; Pekeriçli, Mehmet Koray (Taylor & Francis, 2021-6-22) In the last two decades, automation systems have shown advanced developments and are widely adopted for various purposes in many fields. However, automation in buildings has not gained popularity and has a low acceptance level amongst the occupants. Decreased perceived control, ever-changing dynamic human needs, and standardized, one-size-fits-all approach in current automation systems lead to disharmony in human-machine coexistence. Although well-established continuous interaction between building control ...
Realistic Simulation of IEEE 802.11p Channel in Mobile Vehicle to Vehicle Communication Islam, Tarikul; Hu, Yongchang; Onur, Ertan; Boltjes, Bert; De Jongh, J. F. C. M. (2013-04-18) Intelligent Transportation Systems (ITS) is becoming an important paradigm, because of its ability to enhance safety and to mitigate congestion on road traffic scenarios. Realizing the fact that data collection scheme from in-situ test beds for large number of vehicles is always expensive and time consuming, before being employed in large scale, such safety critical system should be tested narrowing down the gap between real circumstances and analytical models in a simulation platform. It is evident that un...

Citation Formats

Ç. A. Yüksel, “3D imaging via binary wavefront modulation for lidar and machine vision applications,” M.S. - Master of Science, Middle East Technical University, 2020.