Publication Details
HDR and 3D Occupancy map implementation on Embedded HW
Nosko Svetozár, Ing. (DCGM FIT BUT)
Beran Vítězslav, doc. Ing., Ph.D. (DCGM FIT BUT)
Zemčík Pavel, prof. Dr. Ing. (DCGM FIT BUT)
This technical report describes the implementation of selected methods for sensory data processing on embedded HW. Outdoor 3D environment modeling provides volumetric space information that is important in solving some robotic tasks, including unmanned areal vehicles with remote control but with limited visual connection. To this end, accurate 3D occupancy maps and reliable flight control are key to the task. This report represents the generation of a 3D occupancy map from a 3D point cloud and its realisation on embedded HW. In addition, the ZED2 stereoscopic camera is set up and tested to generate a 3D point clouds. Finally, we expanded the HDR camera (High Dynamic Range) with a new HDH deghosting algorithm, which enabled the integration of HDR shooting directly on the drone. This algorithm reduces the adverse effects that can occur during the flight.
@TECHREPORT{FITPUB12435,
author = "C. Alfredo Plascencia and Svetoz\'{a}r Nosko and V\'{i}t\v{e}zslav Beran and Pavel Zem\v{c}\'{i}k",
title = "HDR and 3D Occupancy map implementation on Embedded HW",
pages = "1--27",
year = 2020,
location = "Brno, CZ",
language = "english",
url = "https://www.fit.vut.cz/research/publication/12435"
}