Nesta disserta¸c˜ao ´e abordado o desenvolvimento de um algoritmo de calibra¸c˜ao dos parˆametros extr´ınsecos de um LiDAR em rela¸c˜ao a um UAV.
Inicialmente foi realizado um estudo com o objetivo de conhecer e entender os m´etodos e abordagens existentes para a calibra¸c˜ao de parˆametros extr´ınsecos de LiDAR. Essa an´alise fez com que se atingisse o primeiro objetivo definido para esta disserta¸c˜ao, de maneira que permitiu definir a arquitetura do projeto.
Na abordagem desenvolvida procurou-se tirar proveito de planos presentes na ´area de varrimento do LiDAR, de forma a obter os parˆametros extr´ınsecos deste para realizar uma reproje¸c˜ao da nuvem de pontos com detalhe.
A valida¸c˜ao do m´etodo desenvolvido consistiu na simula¸c˜ao de um varrimento de 3 planos perpendiculares entre si, respeitando as caracter´ısticas do Velodyne, especial-mente o FOV vertical e horizontal e a frequˆencia de dados retornados.
Referente ao cen´ario simulado, a calibra¸c˜ao foi alcan¸cada com sucesso referente `a orienta¸c˜ao do LiDAR, requerendo poucas dezenas de itera¸c˜oes. No entanto, a posi¸c˜ao relativa do sensor ao UAV apesar de convergir no mesmo n´umero de itera¸c˜oes, toma valores errados.
Referente a cen´arios reais, a dete¸c˜ao de planos e a extra¸c˜ao dos seus parˆametros apresentou-se bem sucedida. No entanto, n˜ao foi poss´ıvel obter os parˆametros extr´ınsecos do Velodyne em rela¸c˜ao ao STORK.
Com base nos resultados obtidos na calibra¸c˜ao em cen´ario simulado, ´e poss´ıvel afirmar que o segundo objetivo foi parcialmente conclu´ıdo com sucesso, ficando como trabalho futuro simular outros cen´arios de modo a obter a estima¸c˜ao correta dos parˆametros extr´ınsecos lineares do LiDAR.
Uma linha de trabalho futuro pretende-se identificar e remover vegeta¸c˜ao da nuvem
Cap´ıtulo 7 de pontos visto que esta influencia a extra¸c˜ao dos parˆametros dos planos detetados, levando a uma m´a estima¸c˜ao. Outra linha de trabalho consiste no desenvolvimento de uma melhor abordagem de associa¸c˜ao de planos detetados.
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