Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 20 of 43 for “"Obstacle Detection"”.
-
Omnidirectional obstacle detection using minimal sensing
An integrated approach to visual obstacle detection for aerial multi-rotor vehicles (drones) is introduced. The approach achieves omnidirectional detection of obstacles via suitable synergy of hardware and software. The drone requires a specific arrangement of two cameras, opposing each other, and …
-
Obstacle detection for robot navigation using structured light
Obstacle detection is an essential function for autonomous mobile robots. Current autonomous systems are generally heavy, high-powered devices. Additionally, obstacle detection systems often employ active ranging sensors that exhibit poor angular resolution, thereby preventing vehicles from …
-
Optical flow for obstacle detection in mobile robots
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.
-
Semi-Dense Stereo Reconstruction from Aerial Imagery for Improved Obstacle Detection
… using a stereo camera for the purpose of obstacle detection and mapping is presented. In this application, a UAV works collaboratively with a UGV to provide high level information of the environment by using a downward facing stereo camera. The approach uses frame to frame SURF feature …
-
Vision based 3D obstacle detection using a single camera for robots/UAVs
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 …
-
Development of an obstacle detection and navigation system for autonomous powered wheelchairs
… environment whilst avoiding static and dynamic obstacles. The add-on system comprised of stereo vision sensors (ZED Camera), and IMU is designed to use Robot Operating System (ROS) to communicate and control the movement of the wheelchair. With the addition of a 3D map of the environment …
-
Obstacle Detection and Avoidance System for Unmanned Aerial Vehicles Based on Monocular Camera
… like YOLO (You Only Look Once) for object detection and pathfinding algorithms like A* (A-Star) can quickly navigate around large, static objects like buildings or trees. However, detecting small objects and handling dynamic aerial environments remain challenging. To address this, we …
-
Obstacle detection and tracking in an urban environment Using 3D LiDAR and a Mobileye 560
… be able to reliably detect and track dynamic obstacles such as vehicles, pedestrians, bicycles, and motorcycles. This paper presents a sensor fusion algorithm which combines tracking information from a Mobileye 560 and a Velodyne HDL-64E. The Velodyne tracking module first extracts obstacles …
-
Development of an Obstacle Detection System for Human Supervisory Control of a UAV in Urban Environments
… complex arenas such as urban environments, an obstacle detection system is a requirement to achieve safe navigation. The development of a system capable of meeting these requirements is presented. The first stage of development was sensor selection and initial testing. After this, the sensor …
-
Development of obstacle detection and avoidance system based on integration of different based-sensor for small-sized unmanned aerial vehicle using cues from expansion of feature points and direction of flow field vectors
Achieving a reliable obstacle detection and avoidance system that can provide an effective safe avoidance path for small unmanned aerial vehicle (UAV) is very challenging due to its physical size and weight constraints. Prior works tend to employ the vision based-sensor as the main detection sensor …
-
Autonomous UAV-UGV robot collaboration for exploration and mapping of unknown environments
… the challenges of relative localization and obstacle detection. A novel method is proposed for autonomously determining the UGVs’ starting poses using ArUco markers visible to the UAV, resulting in the initialization of a global merged map. A second method is developed to overcome UGV …
-
Maritime intent estimation and the detection of unknown obstacles
… belief of the potential location of obstacles in the environment (obstacle detection) that the contact is avoiding. These values are recorded in an obstacle inference map, which is capable of incorporating the results from the analysis of any number of observed paths from multiple …
-
Collision Avoidance Using a Low-Cost Forward-Looking Sonar for Small AUVs
… beam pattern and beam location, and to evaluate obstacle detection algorithms. We analyze the benefit of using a few beams instead of a single beam for a low-cost obstacle avoidance sonar for small AUVs. Single-beam systems are small and low-cost, while multi-beam sonar systems are more expensive …
-
Online Unmanned Ground Vehicle Mission Planning using Active Aerial Vehicle Exploration
… is composed of a UAV with a stereo system for obstacle detection and a UGV with no sensors for obstacle detection. Two exploration algorithms were developed to guide the exploration of the UAV. Both identify frontiers for exploration with the Dijkstra Frontier method using Dijkstra's Algorithm …
-
Experiments in Real-time Path Planning for Riverine Environments
… of an autonomous path planning and obstacle avoidance algorithm for an autonomous surface vehicle (ASV) in a riverine environment. The algorithm effectively handles trap situations, which occur when the river bends away from the destination. In addition, the algorithm uses real-time …
-
Fusion-layer-based machine vision for intelligent transportation systems/
… should automatically detect static and dynamic obstacles, and obtain their related information, such as, locations, speed, collision/occlusion possibility, and other dynamic current/historic information. Conventional methods independently detect individual information, which is normally noisy …
-
High-speed autonomous obstacle avoidance with pushbroom stereo
… only onboard sensing and computation, we perform obstacle detection, planning, and feedback control in realtime. We introduce a novel stereo vision algorithm, pushbroom stereo, capable of detecting obstacles at 120 frames per second without overburdening our lightweight processors. Our use of …
-
Multi-criteria design analysis of sensor systems for railway level crossings
… As a countermeasure against the accidents, obstacle detection systems are widely installed and used in a large number of level crossings in Japan. However, current obstacle detection systems can typically detect only automobiles and not pedestrians and can be improved in accuracy and …
-
Robotic navigation of smooth contours
… this method on a real robot and should introduce obstacle detection and avoidance.
-
Safe and secure autonomous vehicles
… is first applied to the crucial challenge of obstacle existence detection faults, or false negatives, in autonomous vehicles. Requirements for obstacle existence detection, i.e., when is an obstacle considered sufficiently detected to enable collision avoidance, are analyzed and reduced. A …
Page 1 of 3