{"id":1184,"date":"2019-10-22T16:04:47","date_gmt":"2019-10-22T19:04:47","guid":{"rendered":"https:\/\/gpar.ufc.br\/?page_id=1180"},"modified":"2019-11-08T00:12:25","modified_gmt":"2019-11-08T03:12:25","slug":"station-terrestrial-laser-2","status":"publish","type":"page","link":"https:\/\/gpar.ufc.br\/?page_id=1184&lang=en","title":{"rendered":"Laser Terrestrial Station"},"content":{"rendered":"\n

A station\nTerrestrial laser is commonly used in topographic surveys,\nAnalysis of areas, constructions, objects, vegetation, among\nOther applications. Due to these applications and the complexity of\nCases of study this equipment was developed by the team of\nGPAR Research. \n<\/p>\n\n\n\n

\tThe equipment\nConsists of a Handle sensor (Light\nDetection and Ranging<\/em>),\nAble to capture data from a region by generating a point cloud, a\nGeopositioning system, known as IMU (Inertial\nMeasurment Unit<\/em>)\nAn accelerometer, gyroscope and magnetometer, and by\nEnd, a base to sustain moving the set of sensors.<\/p>\n\n\n\n

\tA\nOf the problems dealt with in this equipment is the acquisition of\nData and sensory fusion of them. That is, reading the\nThe IMU and LiDAR information and to design a cloud of\nPoints consistent with the mapped location\/object. This sensory fusion is\nUsing techniques such as Kalman filter to attenuate\nInaccuracies of readings. All this processing is done using\nA microcontroller containing ROS (Robot\nOperating System<\/em>).<\/p>\n\n\n\n

\n\tWith the equipment mounted some tests and analysis of the cloud of\nResulting points can be analysed. The figures present the\nComplete equipment and the result of an assay using a LiDAR\nLD-MRS 420201.<\/p>\n\n\n\n

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