enme489y: remote sensing final project presentationfinal mapping_f.txt - notepad ln 1, col 100% file...
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ENME489Y: REMOTE SENSINGFINAL PROJECT PRESENTATIONAARON BARLEV
APRIL 30TH, 2019
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LIDAR SENSOR DESIGN
Pi Camera
Raspberry Pi
3D-printed mount
Arduino Uno
Line Laser
Battery pack
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THE TARGET
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THE TARGET
• Black fence with “M” cut-out
• Surrounded by brick pillars
• Back-side is impossible to map (with existing tripod)
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RANGE DATA COLLECTION
• Save image with the current IMU angle as the filename
• Read in image from Pi Camera
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HSV Filtering
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HSV Filtering
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RANGE DATA PROCESSING
• Declare the lower and upper HSV thresholds for the image
• Declare the ro and rpc LiDAR parameters• Declare the laser to camera separation distance
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RANGE DATA PROCESSING
• Process the image using the preset HSV threshold• Iterate across vertical lines on the image, storing the location of each “bright” pixel
• Take the average if multiple “bright” pixels are found
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RANGE DATA PROCESSING
• Calculate the distance from LiDAR using the preset parameters
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3D POINT CLOUD GENERATION
• Read in the x, y, z data from the text file
• Filter out noise using a mode-variance model
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3D POINT CLOUD GENERATION
• Combine the x, y, z coordinates into a single plot• Compute using MATLAB
• Adjust the x, y, z position of each data set for the point cloud
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BEFORE FILTERING
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AFTER FILTERING
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3D POINT CLOUD GENERATION