Science & Military 2/2023
Analysis of State-of-the-art Software Solutions for Unstructured Outdoor Environment Perception in Goal-oriented Navigation of Off-road Unmanned Ground Vehicles
Fulltext (.pdf 1,24 MB)
https://doi.org/10.52651/sam.a.2023.2.5-15
Autor: Matej Vargovčík, Peter Pásztó, Marian Kľúčik, Martin Smoľák, Patrik Štefka, Jakub Lenner
In: Science & Military
ISSN: 2453-7632
Ročník: 18
Číslo: 2
Strany: 5 - 15
Rok vydania: 2023
Vydavateľ: Akadémia ozbrojených síl generála Milana Rastislava Štefánika, Liptovský Mikuláš
Abstrakt: This paper presents a comprehensive analysis of state-of-the-art software solutions designed for the perception of unstructured outdoor environments, with a focus on their applicability in goal-oriented navigation for off-road unmanned ground vehicles (UGVs). The analysis encompasses the evaluation of various sensors for UGV navigation, comparison of methods for extracting perceptual information from sensor data, and the development of a perception system based on the findings. The proposed system leverages advancements in simultaneous localization and mapping (SLAM), visual odometry, and traversability segmentation using 3D LiDAR and visual systems. The analysis suggests a phased approach for the development of autonomous navigation, where the initial phase relies on complex SLAM and teleoperation assistance, and the subsequent phase introduces an autonomous mode utilizing semantical terrain representation.
Kľúčové slová: UGV; Perception; Autonomous; Navigation; SLAM; Off-road.
Citácia:
VARGOVČÍK, Matej; PÁSZTÓ, Peter; KLÚČIK, Marián; SMOĽÁK, Martin; ŠTEFKA, Patrik et al. Analysis of State-of-the-art Software Solutions for Unstructured Outdoor Environment Perception in Goal-oriented Navigation of Off-road Unmanned Ground Vehicles. In: Science & Military [online]. Liptovský Mikuláš: Akadémia ozbrojených síl generála Milana Rastislava Štefánika, 2023, 18 (2), s. 5-15. ISSN: 1336-8885 (print). ISSN: 2453-7632 (online). Dostupné na internete: https://doi.org/10.52651/sam.a.2023.2.5-15
Design and Implementation of Output Circuitry for Millimeter-wave Direct Detection Radiometer
Fulltext (.pdf 1,24 MB)
https://doi.org/10.52651/sam.a.2023.2.16-20
Autor: Mikuláš Šostronek, Miroslav Matejček, Zdeno Baráni
In: Science & Military
ISSN: 2453-7632
Ročník: 18
Číslo: 2
Strany: 16 - 20
Rok vydania: 2023
Vydavateľ: Akadémia ozbrojených síl generála Milana Rastislava Štefánika, Liptovský Mikuláš
Abstrakt: This paper presents a design and an implementation of an output circuitry for a millimeter-wave direct detection radiometer. This circuitry is based on commercially available ultra-low-noise op-amp and consist of an active anti-aliasing filter and DC amplifier. The prototype of this circuitry has been realized and evaluated.
Kľúčové slová: Millimeter-wave radiometer; Direct detection radiometer; Output radiometer circuitry; Anti-aliasing filter.
Citácia:
ŠOSTRONEK, Mikuláš; MATEJČEK, Miroslav a BARÁNI, Zdeno. Design and Implementation of Output Circuitry for Millimeter-wave Direct Detection Radiometer. In: Science & Military [online]. Liptovský Mikuláš: Akadémia ozbrojených síl generála Milana Rastislava Štefánika, 2023, 18 (2), s. 16-20. ISSN: 1336-8885 (print). ISSN: 2453-7632 (online). Dostupné na internete: https://doi.org/10.52651/sam.a.2023.2.16-20
Zoom Optical System for Thermal Camera in Optical Range 8-14 µm
Fulltext (.pdf 1,24 MB)
https://doi.org/10.52651/sam.a.2023.2.21-27
Autor: Chi Toan Dang, Vratislav Kreheľ, Michal Mozoľa
In: Science & Military
ISSN: 2453-7632
Ročník: 18
Číslo: 2
Strany: 21 - 27
Rok vydania: 2023
Vydavateľ: Akadémia ozbrojených síl generála Milana Rastislava Štefánika, Liptovský Mikuláš
Abstrakt: Continuous infrared zoom systems with image quality and image stabilisation maintained throughout the workflow are increasingly being used. A long-wave infrared continuous zoom optical system with a 6x zoom ratio operating with an uncooled detector was designed. The optical system has a focal length from 37,5 mm to 225 mm, and the F/# is 1,5. The system includes 7 lenses with 3 even aspheres. The results show that the MTF function is very close to the diffraction limit curve over the entire focal range, proving that the system meets the specifications.
Kľúčové slová: Zoom optical system; Thermal infrared; Zoom ratio.
Citácia:
DANG, Chi Toan; KREHEĽ, Vratislav a MOZOĽA, Michal. Zoom Optical System for Thermal Camera in Optical Range 8-14 µm. In: Science & Military [online]. Liptovský Mikuláš: Akadémia ozbrojených síl generála Milana Rastislava Štefánika, 2023, 18 (2), s. 21-27. ISSN: 1336-8885 (print). ISSN: 2453-7632 (online). Dostupné na internete: https://doi.org/10.52651/sam.a.2023.2.21-27