Title:
Vision based 3D obstacle detection using a single camera for robots/UAVs

dc.contributor.advisor Johnson, Eric N.
dc.contributor.advisor Lipkin, Harvey
dc.contributor.author Shah, Syed Irtiza Ali en_US
dc.contributor.committeeMember Sadegh, Nader
dc.contributor.department Mechanical Engineering en_US
dc.date.accessioned 2009-08-26T18:15:33Z
dc.date.available 2009-08-26T18:15:33Z
dc.date.issued 2009-07-01 en_US
dc.description.abstract This thesis aims at detecting obstacles using a single camera in an unknown 3D world for 3D motion of the robot/UAV. Obstacle detection is a pre-requisite for collision-free motion of robots/UAVs. Most of the research in this area has been for 2D motion of the ground robots and with active sensors e.g Laser range finders, Ultrasonic sensors, SONAR, RADAR etc. The passive camera based research has mostly been done either using triangulation/stereo vision (using more than one camera), or, developing an expectation map pre-hand, of the world and comparing it with the new image data. In contrast, this thesis, aims at finding solution of the problem using just a single camera in a perfectly unknown world. This requirement is based on the fact that at least a single camera would be carried by almost all robots/UAVs anyway in foreseeable future. Hence the attempt is to use the same camera for obstacle detection and avoidance task as well, so as to come up with a low cost and light weight solution, in order to facilitate building miniature robots/UAVs. en_US
dc.description.degree M.S. en_US
dc.identifier.uri http://hdl.handle.net/1853/29741
dc.publisher Georgia Institute of Technology en_US
dc.subject UAVs en_US
dc.subject Robots en_US
dc.subject Obstacle detection en_US
dc.subject Vision en_US
dc.subject.lcsh Robotics
dc.subject.lcsh Robot vision
dc.subject.lcsh Drone aircraft
dc.subject.lcsh Detectors
dc.subject.lcsh Three-dimensional imaging
dc.subject.lcsh Algorithms
dc.title Vision based 3D obstacle detection using a single camera for robots/UAVs en_US
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.advisor Johnson, Eric N.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
relation.isAdvisorOfPublication 175a1f2b-c14e-4c43-a9e5-136fb7f8e5d0
relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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