info:eu-repo/semantics/masterThesis
VISION-BASED OBSTACLE AVOIDANCE FOR QUADROTOR NAVIGATION
Autor
Sergio Marcelino Trejo Fuentes
Institución
Resumen
"This thesis presents a vision-based methodology which makes use of a stereo camera rig and a one-dimension LiDAR to estimate free obstacle areas for quadcopter navigation. The presented approach fuses information provided by a depth map from a stereo camera rig, and the sensing distance of the 1D-LiDAR. Once the depth map is filtered with a Weighted Least Squares filter (WLS), the information is fused through a Kalman filter algorithm. To determine if there is a free space large enough for the quadcopter to pass through, this approach marks an area inside the disparity map by using the Kalman Filter output information. The whole process is implemented in an embedded computer Jetson TX2 and coded in the Robotic Operating System (ROS). Experiments demonstrate the effectiveness of this obstacle detection approach."
Esta tesis fue apoyada por el Proyecto FORDECyT-CONACYT 292399 “Generación de Estrategias Científico-Tecnológicas con un enfoque multidisciplinario e Interinstitucional para afrontar la amenaza que representa los complejos ambrosiales en los sectores agrícola y forestal de México”.
Materias
Ítems relacionados
Mostrando ítems relacionados por Título, autor o materia.
-
Preparación de materiales compuestos mediante la funcionalización covalente de nanotubos de carbono (CNTs) con polímero
CLAUDIA GUADALUPE ESPINOSA GONZALEZ -
Attachment of transition metal nanoparticles on nitrogen doped carbon nanotubes (MWNTs-CNx) and their further reactions.
XAVIER NORBERTO LEPRÓ CHÁVEZ -
Alternativas sustentables para uso de residuos de explotación de tobas volcánicas en materiales de construcción
REBECA GUADALUPE ORTIZ MENA; MARIA GUADALUPE NAVARRO ROJERO; T. LOPEZ-LARA; Juan Bosco Hernández Zaragoza; DANIEL NAPOLEON GOMEZ BALBUENA