Senzorický subsystém robotu

Abstract

This dissertation theses presents the improvements to the current applications of the 2D laser scanners. The proposed method is more efficient then the majority of the widely used methods. The beginning of this work contains the description of the construction of the mobile 3D laser scanner. This device is capable to measure the outer environment in 3D coordinates. The output of the device are point clouds of the measured data. The proposed solution also includes the calibration of the device. The point clouds are further analyzed in order to validate the precision of acquired data and to obtain the limits of the proposed construction. The analysis results are used for error detection in point clouds data. This theses also covers the topic of point clouds segmentation. The segmentation results are more convenient for succeeding high level processing. As an example, this work shows methods for point clouds concatenation and environment map creation.