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Master's Dissertation
DOI
Document
Author
Full name
Danilo Habermann
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2010
Supervisor
Committee
Garcia, Claudio (President)
Pellanda, Paulo César
Zampieri, Douglas Eduardo
Title in Portuguese
Detecção e rastreamento de obstáculos com uso de sensor laser de varredura.
Keywords in Portuguese
Laser
Sensor
Abstract in Portuguese
Este trabalho apresenta um sistema de rastreamento de obstáculos, utilizando sensor laser 2D e filtro de Kalman. Este filtro não é muito eficiente em situações em que ocorrem severas perturbações na posição medida do obstáculo, como, por exemplo, um objeto rastreado passando por trás de uma barreira, interrompendo o feixe de laser por alguns instantes, tornando impossível receber do sensor as informações sobre sua posição. Este trabalho sugere um método de minimizar esse problema com o uso de um algoritmo denominado Corretor de Discrepâncias.
Title in English
Obstacle detection and tracking using laser 2D.
Keywords in English
Kalman filter
Laser sensor
Obstacle detection
Tracking
Abstract in English
An obstacle detection and tracking system using a 2D laser sensor and the Kalman filter is presented. This filter is not very efficient in case of severe disturbances in the measured position of the obstacle, as for instance, when an object being tracked is behind a barrier, thus interrupting the laser beam, making it impossible to receive the sensor information about its position. This work suggests a method to minimize this problem by using an algorithm called Corrector of Discrepancies.
 
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Publishing Date
2010-12-10
 
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