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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
Title: 3D vision for autonomous flight of a quadcopter using kinect
Authors: Dinh Quang Anh 
Keywords: Obstacle avoiding system;Point cloud processing;Perpendicular distance;Point cloud library;RANSAC segmentation
Issue Date: 2017
Publisher: Vietnamese-German University
Abstract: 
This 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.
URI(1): http://epub.vgu.edu.vn/handle/dlibvgu/567
Rights: Attribution-NonCommercial 4.0 International
Appears in Collections:Electrical Engineering and Information Technology (EEIT)

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