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Fusion Of Lidar And Camera Data For Distance Determination Of Image Features

Neumann, Tobias (2018) Fusion Of Lidar And Camera Data For Distance Determination Of Image Features. DLR-Interner Bericht. DLR-IB-FT-BS-2018-256. Bachelor's. Universität Würzburg.

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The fusion of sensors is a major need in order to create a wider spectrum for environmental perception. Using laser range scanners and cameras, the distance of detected objects of interest within the image can be determined by merging the sensor data properly. On real-time systems like unmanned aerial vehicles, it is important to make simple calculations and keep the merging process cheap in terms of computational time. This paper develops an appropriate fusion method based on ray tracing techniques. The proposed method is rather simple, making it possible to create slim implementations. In order to widen the area of application in which this method can be used, variations of it on different parts are introduced. To verify this method, but also to possibly reveal weaknesses, it is tested in a simulation environment and through experimental tests and analyzes.

Item URL in elib:https://elib.dlr.de/194359/
Document Type:Monograph (DLR-Interner Bericht, Bachelor's)
Title:Fusion Of Lidar And Camera Data For Distance Determination Of Image Features
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Open Access:Yes
Keywords:sensor fusion, lidar, camera, ray tracing
Institution:Universität Würzburg
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - Unmanned Aerial Systems
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Institute of Flight Systems
Deposited By: Ammann, Nikolaus Alexander
Deposited On:22 Feb 2024 11:34
Last Modified:22 Feb 2024 11:34

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