< Projeler Sayfası

Proje Adı
2B LiDAR Kullanarak Yüksek Frekanslı 3B LiDAR Sistemi Geliştirme

Şirket Adı
Aselsan

Şirket Mentoru
Halil Onur Şirin

Akademik Mentor
Prof. Ömer Morgül

Asistan
İsmail Uyanık

Takım Üyeleri
Bengisu Özbay, Dilan Öztürk, Elvan Kuzucu, Muhittin Taşçı, Mustafa Gül, Ahmet Mansur Arısoy

Summary
Light Detection and Ranging (LiDAR) devices are gaining more importance for obtaining sensory information in mobile robot applications. However, existing solutions in literature yield low frequency outputs with huge measurement delay to obtain 3D range image of the environment. In this project we achieved the design and construction of a 3D range sensor based on rotating a 2D LiDAR around its pitch axis. There are two core parts needed to be emphasized. First one is designing an electro-mechanical unit for stable and smooth rotation of the 2D LiDAR and the second one is merging and processing 2D LiDAR outputs to obtain a fast and dense 3D view of the environment which is achieved by registering 2D LiDAR data to 3D space considering their pitch angles. In addition to these different than previous approaches, we aim to achieve a high scan frequency, around 5 Hz, to support the application of our system on mobile robot platforms. However, increasing scan frequency drastically reduces the measurement density in 3D range images. Therefore, we propose two post processing algorithms to increase measurement density while keeping the 3D scan frequency at an acceptable level. To this end, we use an extended version of the Papoulis–Gerchberg algorithm to achieve super-resolution on 3D range data by estimating the unmeasured samples in the environment. Moreover, we propose a probabilistic obstacle reconstruction algorithm to consider the probabilities of the estimated (virtual) points and to obtain a very fast prediction about the existence and shape of detected obstacles.