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Aerial Environmental Mapping in Reconnaissance Robotics
Gábrlík, Petr ; Duchoň,, František (oponent) ; Mazal, Jan (oponent) ; Žalud, Luděk (vedoucí práce)
In the last decade, aerial photogrammetry performed with small unmanned aircraft systems has been developed into a progressive technology applicable across multiple fields and branches. The regular approach employing control points for georeferencing is characterized by high accuracy and reliability; however, it can also be considered generally unusable in some special scenarios. This thesis has been conceived to design and discuss a sensor system that allows direct georeferencing in unmanned photogrammetry; in this context, the author also proposes relevant calibration methods and verifies the performance of the entire setup. A significant portion of the presented research involves identifying new opportunities for the novel mapping method. Two of the potential applications are characterized thoroughly: Environmental mapping, namely, the determination of snow cover parameters, and robotic radiation search. These activities embody tasks where the system enables us to eliminate the human health risks associated with a concrete environment. The actual benefits and overall usability are assessed within real-world experiments.
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Aerial Environmental Mapping in Reconnaissance Robotics
Gábrlík, Petr ; Duchoň,, František (oponent) ; Mazal, Jan (oponent) ; Žalud, Luděk (vedoucí práce)
In the last decade, aerial photogrammetry performed with small unmanned aircraft systems has been developed into a progressive technology applicable across multiple fields and branches. The regular approach employing control points for georeferencing is characterized by high accuracy and reliability; however, it can also be considered generally unusable in some special scenarios. This thesis has been conceived to design and discuss a sensor system that allows direct georeferencing in unmanned photogrammetry; in this context, the author also proposes relevant calibration methods and verifies the performance of the entire setup. A significant portion of the presented research involves identifying new opportunities for the novel mapping method. Two of the potential applications are characterized thoroughly: Environmental mapping, namely, the determination of snow cover parameters, and robotic radiation search. These activities embody tasks where the system enables us to eliminate the human health risks associated with a concrete environment. The actual benefits and overall usability are assessed within real-world experiments.
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