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Detekcija ovir z zlivanjem senzorske informacije za avtonomna plovila
OVEN, FRANC (Author), Kristan, Matej (Mentor) More about this mentor... This link opens in a new window

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Abstract
V diplomskem delu obravnavamo problem avtonomne navigacije plovil. Predpo- stavljamo, da je plovilo opremljeno s senzorji kot so GPS, IMU, kompas, stereo sistem dveh kamer ter procesno enoto na kateri se izvajajo algoritmi segmentacije in planiranja poti. Zacnemo s predstavitvijo algoritma segmentacije, ki skupaj z naprednimi metodami racunalniskega vida iz slik kamer oceni morebitne ovire (boje, plavalci, ladje, obala). Osredotocimo se na del, kjer s pomocjo meritev iner- cijske merilne naprave ocenimo horizont na slikah kamer in s tem pripomoremo k robustnejsi oceni morja. Za izboljsano lokalizacijo ovir, s pomocjo kalibriranega stereo sistema kamer ocenimo oddaljenost pikslov na sliki v 3D prostoru. Slike morajo biti za racunanje globine rekticirane, saj s tem poenostavimo iskanje korespondenc na enodimenzionalen problem. V nadaljevanju predstavimo, implementiramo in ovrednotimo nase predloge za izboljsavo ter predstavimo smernice za nadaljni razvoj.

Language:Slovenian
Keywords:stereo sistem, 3D inferenca, inercijska merilna naprava, hori- zont, segmentacija
Work type:Bachelor thesis/paper (mb11)
Organization:FRI - Faculty of computer and information science
Year:2014
Views:1101
Downloads:202
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Secondary language

Language:English
Title:Obstacle detection through sensor fusion is unmanned surface vehicles
Abstract:
In our diploma thesis we issue a navigation problem of autonomous surface vehicles. Presume we have a vessel appointed with sensors, such as GPS, IMU, compass, a stereo sistem of two cameras and a standalone processing unit that combines sensor data and performs segmentation and planning in real time. We begin by introducing the algorithm of segmentation, that along with help of advanced com- puter vision methods extracts useful visual information, therefore avoids obstacles in its path (boats, swimmers, buoys). Then, we focus on horizon estimation by taking into account data of innertial measurement unit, with whom we improve the estimation of a sea border. To improve localization of obstacles in front of the vessel, we calculate depth of every pixel in the image. Image pairs are first rectified as we simplify the correspondence search to single dimension. Furthermore, we present, implement and evaluate our methods. We conclude by discussing further work that can be done.

Keywords:stereo system, 3D inference, inertial measurement unit, horizon, seg- mentation

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