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In augmented virtuality which virtualizes real objects to construct a mixed reality environment, it is important to estimate object surface reflectance properties to render objects under arbitrary illumination conditions. The authors developed a method to estimate reflectance properties of object surfaces densely However, it was difficult to estimate surface reflectance properties faithfully for objects with interreflections. This paper describes a new method of densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder The proposed method first determines positions of light to take color images for discriminating diffuse and specular reflection components of surface reflection. Then, surface reflectance parameters are estimated based on radiosity. Experiments show the usefulness of the proposed method., ICPR 2002 : 16th International Conference on Pattern Recognition , Aug 11-15, 2002 , Quebec, Canada

We propose a support system of range data acquisition by a laser rangefinder for wide area outdoor modeling in order to reduce un-observed portions of generated model. The system presents the operator a recommendation degree map which illustrates recommendation position of acquisition of range data in the objective area. The operator decides a next acquisition position in consideration of movement distance of sensor system and recommendation degrees of the map. The recommendation degree is computed by measurement density as the index. The recommendation degree at a position is given by the difference between measurement density acquired by rangefinder and measurement density estimated by the system in reachable area of the laser beams. The reachable area of the laser beams is estimated by using a 3D model generated from the acquired range data. The system computes the measurement density by the reachable area of the laser beams. The recommendation degrees in the objective area are computed by the model generated from range data whenever a range data is acquired. Moreover, the system judges whether overlapping portions of the range data can be acquired for the registration by ICP algorithm from a work area which the sensor system can enter., Videometrics IX , Jan 28, 2007 , San Jose, CA, USA

In mixed reality, especially in augmented virtuality which virtualizes real objects, it is important to estimate object surface reflectance properties to render the objects under arbitrary illumination conditions. Though several methods have been explored to estimate the surface reflectance properties, it is still difficult to estimate surface reflectance parameters faithfully for complex objects which have nonuniform surface reflectance properties and exhibit interreflections. We describe a new method for densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder. Experiments show the usefulness of the proposed method., ICCV 2003 : The 9th International Conference on Computer Vision , Oct 13-16, 2003 , Nice, France

This paper describes a 3D modeling method for wide area outdoor environments which is based on integrating omnidirectional range and color images. In the proposed method, outdoor scenes can be efficiently digitized by an omnidirectional laser rangefinder which can obtain a 3D shape with high-accuracy and by an omnidirectional multi-camera system (OMS) which can capture a high-resolution color image. Multiple range images are registered by minimizing the distances between corresponding points in the different range images. In order to register multiple range images stably, points on plane portions detected from the range data are used in registration process. The position and orientation acquired by RTK-GPS and gyroscope are used as initial values of simultaneous registration. The 3D model obtained by registration of range data is mapped by textures selected from omnidirectional images in consideration of the resolution of texture and occlusions of the model. In experiments, we have carried out 3D modeling of our campus with the proposed method., 3DIM 2005 : 5th International Conference on 3-D Digital Imaging and Modeling , Jun 13-16, 2005 , Ottawa, Ontario, Canada

In augmented virtuality, estimating object surface reflectance properties is important when rendering objects under arbitrary illumination conditions. However, faithfully estimating surface reflectance properties is difficult for objects having interreflections. The present paper describes a new method for densely estimating the non-uniform surface reflectance properties of real objects constructed of convex and concave surfaces having diffuse and specular interreflections. The registered range and surface color texture images were obtained using a laser rangefinder. In the proposed method, the light positions are first determined in order to take color images, which are then used to discriminate diffuse and specular reflection components of surface reflection. Surface reflectance parameters are then estimated based on an inverse global illumination rendering. Experiments were conducted to reveal the usefulness of the proposed method., ICPR 2004 : 17th International Conference on Pattern Recognition , Aug 23-26, 2004 , Cambridge, UK

This report describes the design and implementation of a prototype for an amplitude modulated laser rangefinder, which is made on a PCB consisting of a laser module emitting light, a photodiode receiving the light reflected from the target, and other components. The design is made for the different power levels, generation of the modulation output and the reception of the signal. The sinusoidal wave is generated with an oscillator circuit and filtered out to produce a pure sine signal. The system requires different voltage levels and current values, which is done with DC-DC converters. Finally, a receiver circuit is implemented to detect the modulation, which needs a device that transfers light energy into voltage. Many tests have been made to optimize the analog circuit for a stable output. The prototype was created as a PCB design with a laser module and a photodiode mounted on it. In the end, satisfactory results were obtained up to the receiving part, however, the prototype was tested with an external circuit for light detection. There is considerable room for improvement, e.g., signal sampling, working receiver and use of standard voltage levels, but this thesis intends to provide a basis for future work.

This report describes the design and implementation of a prototype for an amplitude modulated laser rangefinder, which is made on a PCB consisting of a laser module emitting light, a photodiode receiving the light reflected from the target, and other components. The design is made for the different power levels, generation of the modulation output and the reception of the signal. The sinusoidal wave is generated with an oscillator circuit and filtered out to produce a pure sine signal. The system requires different voltage levels and current values, which is done with DC-DC converters. Finally, a receiver circuit is implemented to detect the modulation, which needs a device that transfers light energy into voltage. Many tests have been made to optimize the analog circuit for a stable output. The prototype was created as a PCB design with a laser module and a photodiode mounted on it. In the end, satisfactory results were obtained up to the receiving part, however, the prototype was tested with an external circuit for light detection. There is considerable room for improvement, e.g., signal sampling, working receiver and use of standard voltage levels, but this thesis intends to provide a basis for future work.

In this study, it is aimed to create virtual global navigation satellite system data to be used in cases where the global navigation satellite system (GNSS) data of aircraft are jammed. Today, GNSS data is disrupted by low-cost radio frequency jammer, making devices using GNSS data unusable. In the study, the position information of the aircraft is determined independently from the GNSS data by calculating the slant range, elevation and azimuth angles between the electrooptic based ground station and the air vehicle. In this electrooptic based structure, three different sensors are used. The laser range meter is used to measure the distance between the ground station and the air vehicle, the magnetic field meter is used to measure the angle of the azimuth, and to measure the accelerometer elevation angle. In this study, experimentally, the sensor data obtained from the STEVAL-STLKT01V1 development card were processed and the effect of the measurement errors of the sensors on the position error was analyzed. In this study, methods were provided to the developers of the aided navigation system, and the effect of sensor measurement errors on the position error was analyzed and light was given to the trade off studies., Bu çalışmada, hava araçlarının küresel seyrüsefer uydu sistemi (Global Navigation Satellite System, GNSS) verileri karıştırıldığı durumlarda kullanılmak üzere sanal küresel seyrüsefer uydu sistemi verisi oluşturma amaçlanmıştır. Günümüzde GNSS verileri düşük maliyetli radyo frekansı körelticiler tarafından bozularak, GNSS verilerini kullanan aygıtları kullanılmaz hale getirmektedir. Çalışmada, elektrooptik tabanlı yer istasyonu ile hava aracı arasındaki eğimli mesafe, yükseliş ve yanca açıları hesaplanarak hava aracının konum bilgisi GNSS verilerinden bağımsız bir şekilde belirlenmektedir. Elektrooptik tabanlı bu yapıda 3 farklı sensor kullanılmaktadır. Lazer mesafe ölçer yer istasyonu ile hava aracı arasındaki mesafeyi ölçmek için, manyetik alan ölçer yanca açısını ölçmek için ve ivmeölçer yükseliş açısını ölçmek için kullanılmaktadır. Çalışmada deneysel olarak STEVAL-STLKT01V1 geliştirme kartından elde edilen sensör verileri işlenerek sensörlerin ölçüm hatalarının konum hatasına etkisi analiz edilmiştir. Bu çalışmada yardımcı seyrüsefer sistemi geliştiricilere yöntemler sunulmuş ve sensor ölçüm hatalarının konum hatasına etkisi analiz edilerek, ödünleşim çalışmalarına ışık tutulmuştur.

In this study, virtual global navigation satellite system data is created to be used when global navigation satellite system (GNSS) data of unmanned aerial vehicles (UAV) is jammed. Nowadays, when GNSS signals disappear, the most common method used as aided navigation data is to obtain location information by using inertial measurement units based on MEMS (micro-electro-mechanical) system. However, the position error generated by inertial units increases in proportion to the square of time. In this study, the position information of the UAV is determined by calculating the slant range, elevation and azimuth angles between the electro optic ground station and the UAV. In this structure, 3 different sensors are used. The laser distance meter is used to measure the distance between the ground station and the UAV, the magnetic field meter is used to measure the angle of the azimuth and the accelerometer is used to measure the elevation angle. The sensor data obtained from the STEVAL-STLKT01V1 development board were processed and the effect of the measurement errors on the position error was analyzed. This study provides methods for aided navigation system developers and sheds light on the tradeoffs by giving effect to the position error of sensor measurement errors. It is thought that the study will help to establish an aided navigation system for UAVs that may work in harsh environmental and atmospheric conditions in the future., Istanbul Medipol Univ

In this study, it is aimed to create virtual global navigation satellite system data to be used in cases where the global navigation satellite system (GNSS) data of aircraft are jammed. Today, GNSS data is disrupted by low-cost radio frequency jammer, making devices using GNSS data unusable. In the study, the position information of the aircraft is determined independently from the GNSS data by calculating the slant range, elevation and azimuth angles between the electrooptic based ground station and the air vehicle. In this electrooptic based structure, three different sensors are used. The laser range meter is used to measure the distance between the ground station and the air vehicle, the magnetic field meter is used to measure the angle of the azimuth, and to measure the accelerometer elevation angle. In this study, experimentally, the sensor data obtained from the STEVAL-STLKT01V1 development card were processed and the effect of the measurement errors of the sensors on the position error was analyzed. In this study, methods were provided to the developers of the aided navigation system, and the effect of sensor measurement errors on the position error was analyzed and light was given to the trade off studies., Bu çalışmada, hava araçlarının küresel seyrüsefer uydu sistemi (Global Navigation Satellite System, GNSS) verileri karıştırıldığı durumlarda kullanılmak üzere sanal küresel seyrüsefer uydu sistemi verisi oluşturma amaçlanmıştır. Günümüzde GNSS verileri düşük maliyetli radyo frekansı körelticiler tarafından bozularak, GNSS verilerini kullanan aygıtları kullanılmaz hale getirmektedir. Çalışmada, elektrooptik tabanlı yer istasyonu ile hava aracı arasındaki eğimli mesafe, yükseliş ve yanca açıları hesaplanarak hava aracının konum bilgisi GNSS verilerinden bağımsız bir şekilde belirlenmektedir. Elektrooptik tabanlı bu yapıda 3 farklı sensor kullanılmaktadır. Lazer mesafe ölçer yer istasyonu ile hava aracı arasındaki mesafeyi ölçmek için, manyetik alan ölçer yanca açısını ölçmek için ve ivmeölçer yükseliş açısını ölçmek için kullanılmaktadır. Çalışmada deneysel olarak STEVAL-STLKT01V1 geliştirme kartından elde edilen sensör verileri işlenerek sensörlerin ölçüm hatalarının konum hatasına etkisi analiz edilmiştir. Bu çalışmada yardımcı seyrüsefer sistemi geliştiricilere yöntemler sunulmuş ve sensor ölçüm hatalarının konum hatasına etkisi analiz edilerek, ödünleşim çalışmalarına ışık tutulmuştur.

In this study, virtual global navigation satellite system data is created to be used when global navigation satellite system (GNSS) data of unmanned aerial vehicles (UAV) is jammed. Nowadays, when GNSS signals disappear, the most common method used as aided navigation data is to obtain location information by using inertial measurement units based on MEMS (micro-electro-mechanical) system. However, the position error generated by inertial units increases in proportion to the square of time. In this study, the position information of the UAV is determined by calculating the slant range, elevation and azimuth angles between the electro optic ground station and the UAV. In this structure, 3 different sensors are used. The laser distance meter is used to measure the distance between the ground station and the UAV, the magnetic field meter is used to measure the angle of the azimuth and the accelerometer is used to measure the elevation angle. The sensor data obtained from the STEVAL-STLKT01V1 development board were processed and the effect of the measurement errors on the position error was analyzed. This study provides methods for aided navigation system developers and sheds light on the tradeoffs by giving effect to the position error of sensor measurement errors. It is thought that the study will help to establish an aided navigation system for UAVs that may work in harsh environmental and atmospheric conditions in the future., Istanbul Medipol Univ

An integrated receiver-TDC (time-to-digital converter) chip set is developed for pulsed time-of-flight (TOF) laser rangefinding. The receiver detects the current pulse from the optical detector and produces a timing mark for the TDC. The receiver uses time mode walk error compensation scheme achieving <+/-2.5 mm residual timing walk error within a dynamic range of ~1:40,000. The multi-channel TDC measures the time position, width and rise time of the echo pulses simultaneously with ~ 10 picosecond (ps) precision. Both chips are manufactured in 0.35-µm complementary metal-oxide semiconductor (CMOS) technology. The functionality of the chip set was demonstrated in a laser radar platform using 12 W and 3-ns optical pulses produced by a laser diode. A measurement accuracy of ~+/-3 mm was achieved with non-cooperative targets at a distance range of a few tens of metres within an amplitude range of received echoes of 1:40,000.

Робота виконана в Національному авіаційному університеті Міністерства освіти і науки України., У дисертаційній роботі отримано такі нові наукові результати. Вперше сформульовані нові принципи побудови приладових систем із включенням безпровідних сенсорних пристроїв для вимірювання механічних величин, що базуються на отримані альтернативних показників вимірювання, завдяки функції локалізації сенсорів у складі комп’ютеризованої приладової системи; Вперше розроблені нові підходи для вирішення проблеми визначення принципу дії мікропроцесорних первинних вимірювальних перетворювачів, що включені до складу безпровідних сенсорних пристроїв, для створення комп’ютеризованих приладових систем на їх основі та складені рівняння оцінки їх похибок; Вдосконалено модель визначення відстані на основі часу отримання сигналу, що дає змогу оцінювати відстань по передньому фронту імпульсу та оцінити похибку з врахуванням перешкод; Вдосконалено комп’ютеризований лазерний далекомір, до складу якого включено безпровідний сенсорний інтерфейс, що дає змогу оцінювати відстань на основі двох альтернативних показників; Вперше розроблено метод підвищення продуктивності комп’ютеризованих сенсорних вимірювальних систем, з метою підвищення точності при передачі даних вимірювання, що можуть викликати недостовірну оцінку похибки в сенсорних приладах (захищено патентами України на корисну модель № 60400 і № 69626); Дістала подальший розвиток методика локалізації безпровідних сенсорів, що дає змогу оцінити відстань між сенсорами, час проходження сигналу між ними, та кут, що в поєднанні з лазерними далекомірами утворює тахеометричну сенсорну приладову систему; Дістала подальший розвиток методика визначення відстані між об’єктами в умовах відсутності прямої видимості, що відрізняється від існуючих методів далекометрії тим, що світловий промінь, який в них застосовується, не здатний розповсюджуватись по криволінійним траєкторіям.

Робота виконана в Національному авіаційному університеті Міністерства освіти і науки України., У дисертаційній роботі отримано такі нові наукові результати. Вперше сформульовані нові принципи побудови приладових систем із включенням безпровідних сенсорних пристроїв для вимірювання механічних величин, що базуються на отримані альтернативних показників вимірювання, завдяки функції локалізації сенсорів у складі комп’ютеризованої приладової системи; Вперше розроблені нові підходи для вирішення проблеми визначення принципу дії мікропроцесорних первинних вимірювальних перетворювачів, що включені до складу безпровідних сенсорних пристроїв, для створення комп’ютеризованих приладових систем на їх основі та складені рівняння оцінки їх похибок; Вдосконалено модель визначення відстані на основі часу отримання сигналу, що дає змогу оцінювати відстань по передньому фронту імпульсу та оцінити похибку з врахуванням перешкод; Вдосконалено комп’ютеризований лазерний далекомір, до складу якого включено безпровідний сенсорний інтерфейс, що дає змогу оцінювати відстань на основі двох альтернативних показників; Вперше розроблено метод підвищення продуктивності комп’ютеризованих сенсорних вимірювальних систем, з метою підвищення точності при передачі даних вимірювання, що можуть викликати недостовірну оцінку похибки в сенсорних приладах (захищено патентами України на корисну модель № 60400 і № 69626); Дістала подальший розвиток методика локалізації безпровідних сенсорів, що дає змогу оцінити відстань між сенсорами, час проходження сигналу між ними, та кут, що в поєднанні з лазерними далекомірами утворює тахеометричну сенсорну приладову систему; Дістала подальший розвиток методика визначення відстані між об’єктами в умовах відсутності прямої видимості, що відрізняється від існуючих методів далекометрії тим, що світловий промінь, який в них застосовується, не здатний розповсюджуватись по криволінійним траєкторіям., In the dissertation work such new scientific results are obtained. For the first time, new principles for the construction of instrumentation systems with the inclusion of wireless sensor devices for measuring mechanical quantities based on the received alternative measurement indicators, due to the function of the localization of sensors in the computerized instrument system, are formulated; New approaches for solving the problem of determining the principle of operation of microprocessor primary measuring transducers included in the wireless sensory devices have been developed for the first time for the creation of computerized instrument systems on their basis and compiled equations for estimating their errors; The model of distance determination based on the arrival time of the signal is improved, which enables to estimate the distance along the front of the impulse and to estimate the error with allowance for obstacles; The computerized laser rangefinder has been improved, which includes a wireless touch interface, which allows to estimate the distance based on two alternative indicators; For the first time, a method for increasing the productivity of computerized sensory measuring systems has been developed, in order to increase the accuracy in transmitting measurement data, which may cause an unreliable estimation of error in sensory devices (protected by Ukrainian patents for utility model No. 60400 and No. 69626); The method of localization of wireless sensors was developed further, which enables to estimate the distance between the sensors, the time of the signal passing between them, and the angle which, in combination with the laser rangefinders, forms a tacheometric sensory device system; The method of determining the distance between objects in the absence of direct visibility, which differs from the existing methods of remoteometry by the fact that the light ray used in them, is not able to propagate along curvilinear trajectories., В диссертационной работе получены следующие новые научные результаты. Впервые сформулированы новые принципы построения приборных систем с включением беспроводных сенсорных устройств для измерения механических величин, основанных на полученные альтернативных показателей измерения, благодаря функции локализации сенсоров в составе компьютеризированной приборной системы. Впервые разработаны новые подходы к решению проблемы определения принципа действия микропроцессорных первичных измерительных преобразователей, включенных в состав беспроводных сенсорных устройств, для создания компьютеризированных приборных систем на их основе и составлены уравнения оценки их погрешностей; Усовершенствована модель определения расстояния на основе времени прибытия сигнала позволяет оценивать расстояние по переднему фронту импульса и оценить погрешность с учетом препятствий; Усовершенствована компьютеризированный лазерный дальномер, в состав которого входит беспроводной сенсорный интерфейс, что позволяет оценивать расстояние на основе двух альтернативных показателей; Впервые разработан метод повышения производительности компьютеризированных сенсорных измерительных систем, с целью повышения точности при передаче данных измерения, которые могут вызвать недостоверную оценку погрешности в сенсорных устройствах (защищено патентами Украины на полезную модель № 60400 и № 69626) Получила дальнейшее развитие методика локализации беспроводных сенсоров, позволяет оценить расстояние между сенсорами, время прохождения сигнала между ними, и угол, в сочетании с лазерными дальномерами образует тахеометрическую сенсорную приборную систему; Получила дальнейшее развитие методика определения расстояния между объектами в условиях отсутствия прямой видимости, отличающийся от существующих методов далекометрии тем, что световой луч, который в них применяется, не способен распространяться по криволинейным траекториям. Впервые разработана математическая модель для исследования процесса измерения расстояния в беспр

Offloading computationally intensive tasks such as lidar or visual odometry from mobile robots has multiple benefits. Resource constrained robots can make use of their network capabilities to reduce the data processing load and be able to perform a larger number tasks in a more efficient manner. However, previous works have mostly focused on cloud offloading, which increases latency and reduces reliability, or high-end edge devices. Instead, we explore the utilization of FPGAs at the edge for computational offloading with minimal latency and high parallelism. We present the potential for modelling feature-based odometry in VHDL and utilizing FPGA implementations., QC 20200626

Three-dimensional representations and maps are the key behind self-driving vehicles and many types of advanced autonomous robots. Localization and mapping algorithms can achieve much higher levels of accuracy with dense 3D point clouds. However, the cost of a multiple-channel three-dimensional lidar with a 360°field of view is at least ten times the cost of an equivalent single-channel two-dimensional lidar. Therefore, while 3D lidars have become an essential component of self-driving vehicles, their cost has limited their integration and penetration within smaller robots. We present an FPGA-based 3D lidar built with multiple inexpensive RPLidar A1 2D lidars, which are rotated via a servo motor and their signals combined with an FPGA board. A C++ package for the Robot Operating System (ROS) has been written, which publishes a 3D point cloud. The mapping of points from the two-dimensional lidar output to the three-dimensional point cloud is done at the FPGA level, as well as continuous calibration of the motor speed and lidar orientation based on a built-in landmark recognition. This inexpensive design opens a wider range of possibilities for lower-end and smaller autonomous robots, which can be able to produce three-dimensional world representations. We demonstrate the possibilities of our design by mapping different environments., QC 20200617

A laser rangefinder device based on pulsed time-of-flight (TOF) distance measurement techniques was constructed and tested. Key blocks of the system are the integrated receiver channel and the integrated time-to-digital converter (TDC) fabricated in a 0.35-um CMOS technology. The receiver-TDC chip set is capable of measuring the time position, rise time and pulse width of incoming optical pulses with ps precision in the amplitude range of more than 1: 50 000. The timing detection is based on leading edge detection in the receiver channel, and the amplitude-dependent timing error is compensated for by utilizing the multichannel TDC. A measurement distance of 100 m is achieved to a target with a reflectance of about 10% at the signal level of SNR = 6, with an optical output power and receiver aperture of 12 W and 18 mm, respectively.

This integrated receiver channel designed for a pulsed time-of-flight (TOF) laser rangefinder consists of a fully differential transimpedance amplifier channel and a timing discriminator. The amplitude-dependent timing walk error is compensated by measuring the width and rise time of the received pulse echo and using this information for calibration. The measured bandwidth, transimpedance and minimum detectable signal (SNR ~10) of the receiver channel are 230 MHz, 100 kΩ and ~1 μA respectively. The single-shot precision of the receiver is ~3 cm at an SNR of 13 and the measurement accuracy is ±4 mm with compensation within a dynamic range of~1:100,000. The receiver circuit was realized in a $0.35 μm CMOS process and has a power consumption of 150 mW. The functionality of the receiver channel was verified over a temperature range of -20 °C to +50 °C.

Die Kartierung und Lokalisierung eines mobilen Roboters in seiner Umgebung ist eine wichtige Voraussetzung für dessen Autonomie. In dieser Arbeit wird der Einsatz eines 3D-Laserscanners zur Erfüllung dieser Aufgaben untersucht. Durch die optimierte Anordnung eines rotierenden 2D-Laserscanners werden hochauflösende Bereiche vorgegeben. Zudem wird mit Hilfe von ICP die Kartierung und Lokalisierung im Stillstand durchgeführt. Bei der Betrachtung zur Verbesserung der Bewegungsschätzung wird auch eine Möglichkeit zur Lokalisierung während der Bewegung mit 3D-Scans vorgestellt. Die vorgestellten Algorithmen werden durch Experimente mit realer Hardware evaluiert.

The paper presents a comparison of terrestrial LiDAR and Distancemeter for surveying 3D spatial data of property units (indoor and outdoor) and producing cadastral representations (2D and 3D). Two study sites representing apartment buildings (co-ownership units) were surveyed with both instruments and six criteria related to data acquisition steps (survey time, number of measures, number of operators) and data modeling steps (preprocessing time, time for modelling the geometry of the objects, completeness) are used to enable the comparison. To produce 2D maps LiDAR technology ended with performance in term of survey and modeling time a little lower compare to Distancemeter. To produce 3D models LiDAR technology shows better results compare to Distancemeter. The number of objects to model and the geometric complexity of these objects are important criteria to take into consideration to determine the advantages of LiDAR technology compared to traditional instruments. For instance, LiDAR point cloud offers the possibility of producing more detailed 3D model (i.e. containing not only cadastral limits).

[ANGLÈS] A topology to implement a time-to-digital converter in 130 nm technology for a laser rangefinder application is proposed in this work. Its architecture comprises a delay line as a fine measurement and a synchronous binary counter as a coarse part; this work is mainly focused in the design of the fine measurement. The target is to achieve a 50 ps time interval measure in the device. The presented approach has been done in order to implement multi-channel multi-hit delay line with the purpose to preserve performance in terms of minimum time interval detectable. Thus, two topologies are proposed on schematic level to achieve multi-channel multi-hit TDC being the one with decoupling inverter the best to implement several channels sharing the delay line. This topology allows keeping the delay element steady regardless the number of channels implemented. Hence, the limitation of channels is given by mismatch variations and metastability errors. Decoupling inverter topology has been realized on layout and several layout designs have been properly simulated in order to optimize tradeoff among performance and layout size. It is concluded and shown that it can be achieved 35.51 ps as minimum detectable time interval with a maximum number of 15 channels to optimize metastability errors in sampling stage., [CASTELLÀ] En este trabajo se ha propuesto una topología para implementar un convertidor tiempo-digital (TDC) para una aplicación de localización láser en la tecnología de 130 nm. La arquitectura se conforma de una línea de retardo que hace la función de medida fina y un contador binario asíncrono que hace la medida gruesa; principalmente, este trabajo se focaliza en el diseño de la parte fina de la aplicación. El objetivo es alcanzar una resolución en el tiempo de medida de 50 ps. La propuesta presentada ha sido hecha para poder implementar una línea de retardo multicanal multipulso con el propósito de mantener el rendimiento en términos de mínimo intervalo de tiempo detectable. Así, dos topologías son presentadas a nivel esquemático para conseguir un TDC multicanal multipulso, siendo la topología con inversores de desacoplo la mejor para implementar varios canales en la línea de retardo. Esta topología permite mantener el retardo estable sin importar el número de canales que se quieran implementar. Por lo tanto, la limitación de canales se da por errores de metaestabilidad y de desajuste de variaciones en los parámetros de los componentes. La arquitectura con inversores de desacoplo se ha realizado en layout y se han realizado varias simulaciones con diferentes layouts con el propósito de optimizar el compromiso entre el rendimiento y el tamaño de éste. Se concluye y se muestra que se puede obtener un retardo mínimo de 35,51 ps con un número máximo de 15 canales para optimizar errores de metaestabilidad en la etapa de muestreo., [CATALÀ] En aquest treball s’ha proposat una topologia per a implementar un convertidor temps a digital (TDC) per a una aplicació de localització làser en la tecnologia de 130 nm. L’arquitectura disposa d’una línea de retard que fa la funció de mesura curta i un comptador binari asíncron que fa la mesura gran; principalment, aquest treball s’ha focalitzat en el disseny de la part de mesura curta de l’aplicació. L’objectiu es aconseguir una resolució en el temps de mesura de 50 ps. La proposta presentada ha sigut feta per a poder implementar una línea de retard multicanal multipols amb el propòsit de mantenir el rendiment en termes de mínim interval de retard mesurable. Així, dos topologies són presentades a nivell esquemàtic per aconseguir un TDC multicanal multipols, essent la topologia amb inversors de desacoblament la millor per implementar varis canals en la línea de retard. Aquesta topologia permet mantenir el retard estable sense importar el número de canals que es volen implementar. Per tant, la limitació de canals ve donada pels errors de metaestabilitat i de desajust de les variacions en els paràmetres dels components. L’arquitectura amb inversors de desacoblament s’ha realitzat amb layout i s’han realitzat varies simulacions amb diferents layouts amb el propòsit d’optimitzar el compromís entre el rendiment i la mida del d’aquest. S’ha conclòs i mostrat que es pot obtenir un retard mínim de 35,51 ps amb un número màxim de 15 canals per optimitzar els errors de metaestabilitat en la etapa de mostreig.

The paper presents a comparison of terrestrial LiDAR and Distancemeter for surveying 3D spatial data of property units (indoor and outdoor) and producing cadastral representations (2D and 3D). Two study sites representing apartment buildings (co-ownership units) were surveyed with both instruments and six criteria related to data acquisition steps (survey time, number of measures, number of operators) and data modeling steps (preprocessing time, time for modelling the geometry of the objects, completeness) are used to enable the comparison. To produce 2D maps LiDAR technology ended with performance in term of survey and modeling time a little lower compare to Distancemeter. To produce 3D models LiDAR technology shows better results compare to Distancemeter. The number of objects to model and the geometric complexity of these objects are important criteria to take into consideration to determine the advantages of LiDAR technology compared to traditional instruments. For instance, LiDAR point cloud offers the possibility of producing more detailed 3D model (i.e. containing not only cadastral limits).

This study examined the appropriateness of self-report (predicted) data obtained from high-level golfers in tournament play. Twenty-one high-level golfers (mean ± s, handicap = +2.8 ± 1.8) completed one round of 18 holes. For approach-shots to the green on par 4 and 5 holes, three measurements were predicted by each player: a) Distance to Hole, b) Approach Shot Distance and c) Ball to Hole Distance, for on and around the green. A fourth variable, Percent Error Index (PEI) was also determined. Actual distances were measured using a combination of a laser rangefinder and tape measure. A series of accuracy, precision and agreement statistics were calculated. Despite between-distance differences being evident for some measures of precision, both low error and good between-method agreement was found for the four variables examined. Results from this study suggest that high-level golfers can utilise self-report data relating to approach-iron shots in golf.

This paper presents the design and construction of an experimental prototype that performs metalworking sizing from digitized three-dimensional models, in order to advance quality control of them. The data provided by the 3D laser, are transformed into a point cloud platform through ROS (Robotic Operating System) and processed with the library PCL (Point Cloud Library). Also shown are the results obtained by measuring a sample of gas cylinders manufactured under the 5th 522-1 NTC update, which were provided by the company Electrigas city of Pereira, Risaralda, noticing that in no case the error in the measurement exceeds 5%., En este documento se presenta el diseño y construcción de un prototipo experimental que realiza el dimensionamiento de piezas metalúrgicas a partir de modelos tridimensionales digitalizados, con el fin de adelantar un control de calidad de las mismas. Los datos entregados por el láser 3D utilizado como sensor, son transformados en una nube de puntos por medio de la plataforma ROS (Robotic Operating System) y procesados con la librería PCL (Point Cloud Library). También se muestran los resultados obtenidos al medir una muestra poblacional de cilindros de gas fabricados bajo la norma NTC 522-1 5ta actualización, los cuales fueron proporcionados por la empresa Electrigas de la ciudad de Pereira, Risaralda; notándose que en ningún caso el error en la medición supera el 5%.

This paper presents the design and construction of an experimental prototype that performs metalworking sizing from digitized three-dimensional models, in order to advance quality control of them. The data provided by the 3D laser, are transformed into a point cloud platform through ROS (Robotic Operating System) and processed with the library PCL (Point Cloud Library). Also shown are the results obtained by measuring a sample of gas cylinders manufactured under the 5th 522-1 NTC update, which were provided by the company Electrigas city of Pereira, Risaralda, noticing that in no case the error in the measurement exceeds 5%., En este documento se presenta el diseño y construcción de un prototipo experimental que realiza el dimensionamiento de piezas metalúrgicas a partir de modelos tridimensionales digitalizados, con el fin de adelantar un control de calidad de las mismas. Los datos entregados por el láser 3D utilizado como sensor, son transformados en una nube de puntos por medio de la plataforma ROS (Robotic Operating System) y procesados con la librería PCL (Point Cloud Library). También se muestran los resultados obtenidos al medir una muestra poblacional de cilindros de gas fabricados bajo la norma NTC 522-1 5ta actualización, los cuales fueron proporcionados por la empresa Electrigas de la ciudad de Pereira, Risaralda; notándose que en ningún caso el error en la medición supera el 5%.

A number of inappropriate navigation devices have been foisted onto the visually impaired population over the past twenty years. These portable electronic devices are usually mounted on a long cane adaptation, or hand-held by the visually impaired user. Their function is primarily to help prevent a collision with an obstacle in the immediate path. Some of these navigation devices use laser technology to gauge subject-to-object distance. Others use infrared transceivers or ultrasonic pulse-echo techniques to locate and warn of obstacles. Some extend their role beyond giving warning signals, to crudely assisting the user map the immediate path ahead. These devices exhibit a number of problems, the most significant of which are related to the interface display that conveys navigation/obstacle warning information to the blind user. As sound is often used in these displays, the vital auditory channel is typically compromised. The author has produced a solution, which is at an early stage of development. Several successful prototypes using tactile displays, have been produced.

This paper describes a new technique for inventory of permanent plots in tropical forests and presents the results of its application in a 1 ha permanent plot in a lowland dipterocarp forest at Kuala Belalong, Ulu Temburong National Park, Brunei Darussalam. The technique is based on mapping of positions of tree individuals in three-dimensio

This paper describes a new technique for inventory of permanent plots in tropical forests and presents the results of its application in a 1 ha permanent plot in a lowland dipterocarp forest at Kuala Belalong, Ulu Temburong National Park, Brunei Darussalam. The technique is based on mapping of positions of tree individuals in three-dimensional space with a high accuracy. Measuring set consists of a distance measuring device (laser rangefinder) and a electronic compass supplying data to a field computer with specialized software (Field-Map®). This method is faster and more exact than methods based on Cartesian grids established in the field. As an example, inventories from 2000 and 2007 of the plot mentioned are compared concerning presence, taxonomical identity and diameter at breast height (dbh) of all tree individuals with dbh ≥ 5 cm. The structural and diversity properties of the forest show similar patterns to the other two permanent plots in Kuala Belalong. In 2007, 1 318 trees were found, out of which 116 were new individuals (i.e. exceeded the 5 cm dbh limit since 2000), 13 were dead individuals. 120 trees died since 2000 (9.2 % of the trees recorded in 2000). Total basal area was 39.18 m2 (0.2 m2 were dead individuals). Growth dynamics has distinct spatial patterns: about half of the plot shows fast dbh increment in 2000–2007 and appearance of numerous new trees; the other half displays stagnation. This is probably due to topographic conditions and partly to the gap dynamics (several dominant trees have fallen there since 2000). Concerning the taxonomic composition, 47 families were recorded, the dominant ones in terms of basal area being Dipterocarpaceae, Myrtaceae, Euphorbiaceae, Lauraceae, Sapotaceae and Burseraceae (sorted in decreasing order). The Dipterocarp family accounts for about 40 % of the total dbh. The most frequent ones were trees of Euphorbiaceae, Dipterocarpaceae, Myrtaceae, Burseraceae and Anacardiaceae. However, this census concerns mainly

In this project, various approaches were analyzed as possible approaches towards wall following and mapping with implementations of select approaches designed in MDLe for the Activ Media robots provided. The laser rangefinder was utilized extensively for mapping and odometry and the indoor cricket system were used for localization. The robot has come to demonstrate good wall following ability in rather unpredictable circumstances, but the quality of the mapping can be irregular due to the poor quality of the odometry.

application/pdf, We propose a support system of range data acquisition by a laser rangefinder for wide area outdoor modeling in order to reduce un-observed portions of generated model. The system presents the operator a recommendation degree map which illustrates recommendation position of acquisition of range data in the objective area. The operator decides a next acquisition position in consideration of movement distance of sensor system and recommendation degrees of the map. The recommendation degree is computed by measurement density as the index. The recommendation degree at a position is given by the difference between measurement density acquired by rangefinder and measurement density estimated by the system in reachable area of the laser beams. The reachable area of the laser beams is estimated by using a 3D model generated from the acquired range data. The system computes the measurement density by the reachable area of the laser beams. The recommendation degrees in the objective area are computed by the model generated from range data whenever a range data is acquired. Moreover, the system judges whether overlapping portions of the range data can be acquired for the registration by ICP algorithm from a work area which the sensor system can enter., Videometrics IX , Jan 28, 2007 , San Jose, CA, USA, conference paper

We propose a support system of range data acquisition by a laser rangefinder for wide area outdoor modeling in order to reduce un-observed portions of generated model. The system presents the operator a recommendation degree map which illustrates recommendation position of acquisition of range data in the objective area. The operator decides a next acquisition position in consideration of movement distance of sensor system and recommendation degrees of the map. The recommendation degree is computed by measurement density as the index. The recommendation degree at a position is given by the difference between measurement density acquired by rangefinder and measurement density estimated by the system in reachable area of the laser beams. The reachable area of the laser beams is estimated by using a 3D model generated from the acquired range data. The system computes the measurement density by the reachable area of the laser beams. The recommendation degrees in the objective area are computed by the model generated from range data whenever a range data is acquired. Moreover, the system judges whether overlapping portions of the range data can be acquired for the registration by ICP algorithm from a work area which the sensor system can enter.

application/pdf, This paper describes a 3D modeling method for wide area outdoor environments which is based on integrating omnidirectional range and color images. In the proposed method, outdoor scenes can be efficiently digitized by an omnidirectional laser rangefinder which can obtain a 3D shape with high-accuracy and by an omnidirectional multi-camera system (OMS) which can capture a high-resolution color image. Multiple range images are registered by minimizing the distances between corresponding points in the different range images. In order to register multiple range images stably, points on plane portions detected from the range data are used in registration process. The position and orientation acquired by RTK-GPS and gyroscope are used as initial values of simultaneous registration. The 3D model obtained by registration of range data is mapped by textures selected from omnidirectional images in consideration of the resolution of texture and occlusions of the model. In experiments, we have carried out 3D modeling of our campus with the proposed method., 3DIM 2005 : 5th International Conference on 3-D Digital Imaging and Modeling , Jun 13-16, 2005 , Ottawa, Ontario, Canada, conference paper

This paper describes a 3D modeling method for wide area outdoor environments which is based on integrating omnidirectional range and color images. In the proposed method, outdoor scenes can be efficiently digitized by an omnidirectional laser rangefinder which can obtain a 3D shape with high-accuracy and by an omnidirectional multi-camera system (OMS) which can capture a high-resolution color image. Multiple range images are registered by minimizing the distances between corresponding points in the different range images. In order to register multiple range images stably, points on plane portions detected from the range data are used in registration process. The position and orientation acquired by RTK-GPS and gyroscope are used as initial values of simultaneous registration. The 3D model obtained by registration of range data is mapped by textures selected from omnidirectional images in consideration of the resolution of texture and occlusions of the model. In experiments, we have carried out 3D modeling of our campus with the proposed method.

In augmented virtuality, estimating object surface reflectance properties is important when rendering objects under arbitrary illumination conditions. However, faithfully estimating surface reflectance properties is difficult for objects having interreflections. The present paper describes a new method for densely estimating the non-uniform surface reflectance properties of real objects constructed of convex and concave surfaces having diffuse and specular interreflections. The registered range and surface color texture images were obtained using a laser rangefinder. In the proposed method, the light positions are first determined in order to take color images, which are then used to discriminate diffuse and specular reflection components of surface reflection. Surface reflectance parameters are then estimated based on an inverse global illumination rendering. Experiments were conducted to reveal the usefulness of the proposed method.

In augmented virtuality, estimating object surface reflectance properties is important when rendering objects under arbitrary illumination conditions. However, faithfully estimating surface reflectance properties is difficult for objects having interreflections. The present paper describes a new method for densely estimating the non-uniform surface reflectance properties of real objects constructed of convex and concave surfaces having diffuse and specular interreflections. The registered range and surface color texture images were obtained using a laser rangefinder. In the proposed method, the light positions are first determined in order to take color images, which are then used to discriminate diffuse and specular reflection components of surface reflection. Surface reflectance parameters are then estimated based on an inverse global illumination rendering. Experiments were conducted to reveal the usefulness of the proposed method., conference paper

In mixed reality, especially in augmented virtuality which virtualizes real objects, it is important to estimate object surface reflectance properties to render the objects under arbitrary illumination conditions. Though several methods have been explored to estimate the surface reflectance properties, it is still difficult to estimate surface reflectance parameters faithfully for complex objects which have nonuniform surface reflectance properties and exhibit interreflections. We describe a new method for densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder. Experiments show the usefulness of the proposed method.

In mixed reality, especially in augmented virtuality which virtualizes real objects, it is important to estimate object surface reflectance properties to render the objects under arbitrary illumination conditions. Though several methods have been explored to estimate the surface reflectance properties, it is still difficult to estimate surface reflectance parameters faithfully for complex objects which have nonuniform surface reflectance properties and exhibit interreflections. We describe a new method for densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder. Experiments show the usefulness of the proposed method., conference paper

application/pdf, In augmented virtuality which virtualizes real objects to construct a mixed reality environment, it is important to estimate object surface reflectance properties to render objects under arbitrary illumination conditions. The authors developed a method to estimate reflectance properties of object surfaces densely However, it was difficult to estimate surface reflectance properties faithfully for objects with interreflections. This paper describes a new method of densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder The proposed method first determines positions of light to take color images for discriminating diffuse and specular reflection components of surface reflection. Then, surface reflectance parameters are estimated based on radiosity. Experiments show the usefulness of the proposed method.

In augmented virtuality which virtualizes real objects to construct a mixed reality environment, it is important to estimate object surface reflectance properties to render objects under arbitrary illumination conditions. The authors developed a method to estimate reflectance properties of object surfaces densely However, it was difficult to estimate surface reflectance properties faithfully for objects with interreflections. This paper describes a new method of densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder The proposed method first determines positions of light to take color images for discriminating diffuse and specular reflection components of surface reflection. Then, surface reflectance parameters are estimated based on radiosity. Experiments show the usefulness of the proposed method., conference paper

Tato práce se zabývá detekcí dynamických objektů, především lidí, a sledování jejich pohybu. Detekce je založena na datech z laserového dálkoměru. Sledování pohybu je založeno na porovnávání dat z více skenů. Algoritmus metody lokalizace je zpracován v programu Matlab. V programu Matlab je vytvořena simulace skenovaných dat a na těchto datech testovány a optimalizovány parametry filtrů algoritmu., This thesis describe dynamic obstacle detection and move tracking. Detection is based on laser rangefinder data. Tracking is based on compare two scans. Algorithm of localization method is processed in Matlab. In Matlab is also made simulation of scanned data. Filter parameters are tested and optimalized on this data.

Tato práce se zabývá detekcí dynamických objektů, především lidí, a sledování jejich pohybu. Detekce je založena na datech z laserového dálkoměru. Sledování pohybu je založeno na porovnávání dat z více skenů. Algoritmus metody lokalizace je zpracován v programu Matlab. V programu Matlab je vytvořena simulace skenovaných dat a na těchto datech testovány a optimalizovány parametry filtrů algoritmu., This thesis describe dynamic obstacle detection and move tracking. Detection is based on laser rangefinder data. Tracking is based on compare two scans. Algorithm of localization method is processed in Matlab. In Matlab is also made simulation of scanned data. Filter parameters are tested and optimalized on this data.

Cílem této bakalářské práce je navrhnout postup tvorby 3D modelu venkovního prostředí. Na základě pozice robota a dat z laserového dálkoměru jsou do mapy přidány body. Z těchto bodů je metodou Delaunayho triangulace vytvořena trojúhelníková síť, která je následně zjednodušena algoritmem Vertex decimation. Tvorba modelu probíhá postupně v průběhu jízdy robota. Se získáváním nových bodů se aktualizuje existující síť trojúhelníků., This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.

Cílem této bakalářské práce je navrhnout postup tvorby 3D modelu venkovního prostředí. Na základě pozice robota a dat z laserového dálkoměru jsou do mapy přidány body. Z těchto bodů je metodou Delaunayho triangulace vytvořena trojúhelníková síť, která je následně zjednodušena algoritmem Vertex decimation. Tvorba modelu probíhá postupně v průběhu jízdy robota. Se získáváním nových bodů se aktualizuje existující síť trojúhelníků., This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.

Tato práce se zabývá detekcí dynamických objektů, především lidí, a sledování jejich pohybu. Detekce je založena na datech z laserového dálkoměru. Sledování pohybu je založeno na porovnávání dat z více skenů. Algoritmus metody lokalizace je zpracován v programu Matlab. V programu Matlab je vytvořena simulace skenovaných dat a na těchto datech testovány a optimalizovány parametry filtrů algoritmu., This thesis describe dynamic obstacle detection and move tracking. Detection is based on laser rangefinder data. Tracking is based on compare two scans. Algorithm of localization method is processed in Matlab. In Matlab is also made simulation of scanned data. Filter parameters are tested and optimalized on this data.

Cílem této bakalářské práce je navrhnout postup tvorby 3D modelu venkovního prostředí. Na základě pozice robota a dat z laserového dálkoměru jsou do mapy přidány body. Z těchto bodů je metodou Delaunayho triangulace vytvořena trojúhelníková síť, která je následně zjednodušena algoritmem Vertex decimation. Tvorba modelu probíhá postupně v průběhu jízdy robota. Se získáváním nových bodů se aktualizuje existující síť trojúhelníků., This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.

Cílem této bakalářské práce je navrhnout postup tvorby 3D modelu venkovního prostředí. Na základě pozice robota a dat z laserového dálkoměru jsou do mapy přidány body. Z těchto bodů je metodou Delaunayho triangulace vytvořena trojúhelníková síť, která je následně zjednodušena algoritmem Vertex decimation. Tvorba modelu probíhá postupně v průběhu jízdy robota. Se získáváním nových bodů se aktualizuje existující síť trojúhelníků., This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.

Tato práce se zabývá detekcí dynamických objektů, především lidí, a sledování jejich pohybu. Detekce je založena na datech z laserového dálkoměru. Sledování pohybu je založeno na porovnávání dat z více skenů. Algoritmus metody lokalizace je zpracován v programu Matlab. V programu Matlab je vytvořena simulace skenovaných dat a na těchto datech testovány a optimalizovány parametry filtrů algoritmu., This thesis describe dynamic obstacle detection and move tracking. Detection is based on laser rangefinder data. Tracking is based on compare two scans. Algorithm of localization method is processed in Matlab. In Matlab is also made simulation of scanned data. Filter parameters are tested and optimalized on this data.

Cílem této bakalářské práce je navrhnout postup tvorby 3D modelu venkovního prostředí. Na základě pozice robota a dat z laserového dálkoměru jsou do mapy přidány body. Z těchto bodů je metodou Delaunayho triangulace vytvořena trojúhelníková síť, která je následně zjednodušena algoritmem Vertex decimation. Tvorba modelu probíhá postupně v průběhu jízdy robota. Se získáváním nových bodů se aktualizuje existující síť trojúhelníků., This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.

Tato práce se zabývá detekcí dynamických objektů, především lidí, a sledování jejich pohybu. Detekce je založena na datech z laserového dálkoměru. Sledování pohybu je založeno na porovnávání dat z více skenů. Algoritmus metody lokalizace je zpracován v programu Matlab. V programu Matlab je vytvořena simulace skenovaných dat a na těchto datech testovány a optimalizovány parametry filtrů algoritmu., This thesis describe dynamic obstacle detection and move tracking. Detection is based on laser rangefinder data. Tracking is based on compare two scans. Algorithm of localization method is processed in Matlab. In Matlab is also made simulation of scanned data. Filter parameters are tested and optimalized on this data.