VISION-BASED OBSTACLE AVOIDANCE FOR QUADROTOR NAVIGATION

dc.contributorGerardo Flores
dc.creatorSergio Marcelino Trejo Fuentes
dc.date2019-08
dc.date.accessioned2023-07-21T15:15:41Z
dc.date.available2023-07-21T15:15:41Z
dc.identifierhttp://cio.repositorioinstitucional.mx/jspui/handle/1002/1084
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/7725852
dc.description"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”.
dc.formatapplication/pdf
dc.languageeng
dc.relationcitation:Trejo Fuentes, (2019). "Vision-based obstacle avoidance for quadrotor navigation". Tesis de Maetsría en Optomecatrónica. Centro de Investigaciones en Óptica, A.C. León, Guanajuato. 80 pp.
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0
dc.subjectinfo:eu-repo/classification/Autor/Artificial vision
dc.subjectinfo:eu-repo/classification/Autor/Sense and avoidance
dc.subjectinfo:eu-repo/classification/Autor/Unmanned aerial vehicles
dc.subjectinfo:eu-repo/classification/Autor/Kalman filter
dc.subjectinfo:eu-repo/classification/Autor/Stereo vision
dc.subjectinfo:eu-repo/classification/Autor/Robotic operating system
dc.subjectinfo:eu-repo/classification/cti/7
dc.subjectinfo:eu-repo/classification/cti/33
dc.subjectinfo:eu-repo/classification/cti/3304
dc.subjectinfo:eu-repo/classification/cti/120304
dc.subjectinfo:eu-repo/classification/cti/120304
dc.titleVISION-BASED OBSTACLE AVOIDANCE FOR QUADROTOR NAVIGATION
dc.typeinfo:eu-repo/semantics/masterThesis
dc.typeinfo:eu-repo/semantics/publishedVersion
dc.coverageLeón, Guanajuato


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