This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D outdoor urban environments by the common detection of plane models. In a few words, the technique separates the raw data into sparse and dense points, followed by the segmentation of the dense points into urban background and foreground objects. In the end we present some experimental results of real-world data-sets taken from the repository 1,2 of the Leibniz University in Hannover, Germany.
Abstract-The present article details the development steps and experimental results obtained during the development of smart actuators used for mini Unmanned Aerial Vehicles. Unlike the commercial off-the-shelf hobby components, these units are able to measure position, angular rate and current, furthermore with their controlling microprocessors they are capable of establishing two way communication via CAN and FlexRay protocol. They are suitable for safety critical applications, and self diagnostics features are also hosted onboard the actuators to be part of a redundant, distributed control network. The development challenges and experimental results in an example hardware-in-the-loop simulator of an Unmanned Aerial System are discussed in the paper.
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