Conference Papers
Permanent URI for this collectionhttps://idr.nitk.ac.in/handle/123456789/28506
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Item Evaluation of ultrasonic sensor in robot mapping(Institute of Electrical and Electronics Engineers Inc., 2019) Nair, S.K.A.; Joladarashi, S.; Ganesh, N.This paper presents the simulation and experimental investigation on mapping done using ultrasonic sensor(HC-SR04). Issues related to exploration, mapping and localization are discussed. Kobuki base with three ultrasonic sensors was kept as robot mobile base platform. A 2D occupancy grid map is updated by the robot when it moves and collects information from ultrasonic sensor. The sensor being noisy in nature generates unwanted ghost points. This results in outliers in the map especially in corners of the environment due to specular reflections. The issues like outliers are dealt with image processing techniques. © 2019 IEEE.Item Geometrical Mapping of an Initially Unknown Region by a Mobile Robot(Institute of Electrical and Electronics Engineers Inc., 2019) Marpally, S.R.; Nagarakshith, M.S.; Sadananda, A.; Guruprasad, K.R.In this paper, we address a problem of mapping an unknown region of interest by a mobile robot. Unlike the conventional exploration and mapping techniques where the occupancy map of a spatially discretized environment is obtained, in the proposed Geometric Mapping (G-Mapping) strategy, the map is obtained in the form of geometric models of the obstacles, in a continuous space. For simplicity, we consider convex polygonal obstacles within a convex region. The proposed exploration strategy is implemented using MATLAB. The simulation results are presented to illustrate and demonstrate the G-Mapping strategy. © 2019 IEEE.Item Automatizing the Khasra Maps Generation Process Using Open Source Software: QGIS and Python Coding Language(Springer Science and Business Media Deutschland GmbH, 2022) Sharma, R.; Beg, M.K.; Bhojaraja, B.E.; Umesh, P.Humans are trying to acquire a piece of land from the time they have come into existence. In modern era, the management of land and its ownership is taken up by the Land and Revenue Department of the State. In order to do that, they need maps with specific objectives, so that even a laymen can understand and use it. The process explained in this paper automate the process of map making after getting the digitized shapefile of the khasra (property identification number), as a single village is divided into numerous grids and it is a tedious work and can have lots of errors while doing it manually. So in order to do the process in swift manner and without having any errors, the process was developed using the Quantum Geographic Information System (QGIS) and Python. The proposed method involves making the use of models built in QGIS along with the Python console. It helps to run the whole process on its own with taking the required input parameters and storing the outputs in a specific folder designed for them. The requirement of the project was to do the same operations on a village file and to get the final khasra map from the village polygon file. Depending upon the village area and its dimensions, the numbers of grids for a particular village is decided and the same GIS tools need to be run on each grid files which make this process a tedious work and more prone to errors. By making use of the method suggested in the paper, all the work can be done error proof with the use of Python. The use of Python code helps to do work in just couple of seconds which would have taken days to complete. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.Item Comparison of Hyperspectral Atmospheric Correction Algorithms for Precise Mapping of Rice Crop(Springer Science and Business Media Deutschland GmbH, 2022) Vivek, B.; Bhojaraja, B.E.; Shetty, A.For millions of people, rice means life, and therefore, it is harvested in many regions of the world. Two rice species are primarily cultivated in the world, namely Asian and African rice. It grows primarily in major river deltas, such as Asia and Southeast Asia. Conventional method of mapping rice crop area is tedious and time-consuming job and more often subjected to erroneous results. In this study advanced remote sensing technique is used for mapping, to map precisely hyperspectral remote sensing with different atmospheric algorithms were compared for better accuracy. Also different supervised classification techniques were compared for the accurate area mapping of rice crop. The ASD field spec Pro hand held spectroradiometer is used for reference spectra collection. And high accuracy GPS device is used to collect ground truth information. Results show that both FLAASH and HAC algorithms produce a good spectrum with respect to the rice spectra obtained from ASD handheld spectroradiometer. SAM image classification and Parallelepiped classifier were used for classification of imagery. From the accuracy assessment performed, accuracy of 88% by using SAM and 84% obtained using Parallelepiped classifier for Hooghly region and 93% using SAM and 87% using Parallelepiped for West Godavari region. From the study, it was found that the best approach for rice crop mapping in Hooghly and West Godavari is SAM classification. The study helps to map the rice crop area accurately; it can be used for yield estimation, indirectly which is helpful for policy makers and to estimate the export, import potential. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.