| Abstract [eng] |
The aim of this master‘s thesis is to research the possibilities of operation of a laser rangefinder, otherwise known as lidar, in various environmental conditions. Based on the scientific works, the structure of the lidar sensor is analyzed, the parameters which determine the quality of the device environmental scan are presented. Also, the factors influencing the errors are described, the influence of rain, fog and snow to the terrestrial LiDAR system is analyzed. Furthermore, the study methodology describes selected lidar for the research, design of the experimentals and used statistical parameters for results evaluation. Also, the design part presents the development of the experimental stand, the required components, describes block diagram of the lidar stand and his control algorithm. After this part, using the created real experimental stand, three experiments are performed to capture specific objects. The first experiment is performed under normal weather conditions (clear air) by measuring distances to the object by changing the scanning frequencies. The second experiment is also performed by measuring distances to the object at certain frequencies, only the normal ambient conditions are changed to rainy air. The final third experiment is conducted to determine how rain can change quality and range of environmental vision created by lidar. This experiment focuses on human body silhouette creation in three-dimensional space. Based on the obtained results, conclusions are presented at the end of the work. |
