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VGU RESEARCH REPOSITORY


Please use this identifier to cite or link to this item: https://epub.vgu.edu.vn/handle/dlibvgu/567
DC FieldValueLanguage
dc.contributor.authorDinh Quang Anhen_US
dc.date.accessioned2020-03-12T17:04:05Z-
dc.date.available2020-03-12T17:04:05Z-
dc.date.issued2017-
dc.identifier.urihttp://epub.vgu.edu.vn/handle/dlibvgu/567-
dc.description.abstractThis paper proposes a ,3D obstacle avoiding system for quadcopter, enabling it to fly automatically in UPS-denial rooms. A Kinect 3D sensor will be mourned on the quadeopter to provide its 3D vision, and the software running on-board will process the 3D data to provide the obstacle avoiding information: 1) the separated 3D images (point clouds) of the perpendicular plane (which could be the ground or the ceiling) and the objects ahead the sensor 2) the parameters of the plane equation 3) the position of the closest object in 3D coordinates 4) the calculated distance to the closest object 4) the calculated perpendicular distance to the plane 5) a warning of collision. The 3D data processing software is provided as a package in ROS (Robot Operating System), running on Linux operating system. The 3D data is processed based on algorithms written in C4-1- provided by Point Cloud Library such as VoxelGrid filter and RANSAC segmentation method. which will be explained in the paper. The final results will be also shown and discussed.en_US
dc.language.isoenen_US
dc.publisherVietnamese-German Universityen_US
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttps://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectObstacle avoiding systemen_US
dc.subjectPoint cloud processingen_US
dc.subjectPerpendicular distanceen_US
dc.subjectPoint cloud libraryen_US
dc.subjectRANSAC segmentationen_US
dc.title3D vision for autonomous flight of a quadcopter using kinecten_US
dc.typeThesisen_US
item.fulltextWith Fulltext-
item.languageiso639-1other-
item.grantfulltextrestricted-
Appears in Collections:Electrical Engineering and Information Technology (EEIT)
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