Sistema de Visão Termográfico para Veículos Autónomos Aéreos
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Tipo de documento: | Dissertação |
Idioma: | por |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.22/18711 |
Resumo: | Visual perception systems are one of the main sources of sensory information used by autonomous systems, mainly for location, navigation and special information about the means of operation where it is located. These sensors allow the acquisition of a large amount of information about the environment in which the system finds itself, which can then be processed to acquire information relevant to the task in question. One of the information that can be obtained using vision systems is the temperature of a certain object/body. This information can be acquired using an IR camera. There are many objects that emit infrared radiation as a function of temperature and the higher the temperature the greater the intensity of radiation emitted by that object/body. This information can be useful in several applications, such as: gas detection, fire detection and surveillance, among others. However, despite providing important complementary information to visible spectrum images, it has some limitations such as capturing images in the dark, and also the high price of these systems. Observing that there are more and more low-cost vehicles capable of taking advantage of these systems, such as UAVs, for various operations (for example, observation or search and rescue missions), it is interesting to develop a small and efficient solution. This will allow its application in more and more vehicles, reducing the cost of the various operations that benefit from the use of these sensors. Using a low cost CMOS IR sensor, Lepton 3.5, the necessary hardware and software for the acquisition of data from this sensor was developed, through Ethernet, which can be integrated with the ROS framework. Increasingly, ROS is an excellent solution in the scope of autonomous systems, allowing the sensor to be integrated in any autonomous system that has a ROS version compatible with the developed software. The developed system has been subjected to laboratory tests that allow comparing its results with those of a system which was known. In addition, the low-cost IR system was integrated into the autonomous aerial vehicle, which confirms its good functioning and possibility of application in various application scenarios. This dissertation aimed to develop a low-cost thermographic system that can be integrated with the existing ROS architecture in robots. This allows that, since the autonomous system has the ROS framework, its integration is simple, fast and mainly low cost and with good results when compared to high cost systems. |
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Sistema de Visão Termográfico para Veículos Autónomos AéreosIR CameraThermographyUAVCâmara IRTermografiaVisual perception systems are one of the main sources of sensory information used by autonomous systems, mainly for location, navigation and special information about the means of operation where it is located. These sensors allow the acquisition of a large amount of information about the environment in which the system finds itself, which can then be processed to acquire information relevant to the task in question. One of the information that can be obtained using vision systems is the temperature of a certain object/body. This information can be acquired using an IR camera. There are many objects that emit infrared radiation as a function of temperature and the higher the temperature the greater the intensity of radiation emitted by that object/body. This information can be useful in several applications, such as: gas detection, fire detection and surveillance, among others. However, despite providing important complementary information to visible spectrum images, it has some limitations such as capturing images in the dark, and also the high price of these systems. Observing that there are more and more low-cost vehicles capable of taking advantage of these systems, such as UAVs, for various operations (for example, observation or search and rescue missions), it is interesting to develop a small and efficient solution. This will allow its application in more and more vehicles, reducing the cost of the various operations that benefit from the use of these sensors. Using a low cost CMOS IR sensor, Lepton 3.5, the necessary hardware and software for the acquisition of data from this sensor was developed, through Ethernet, which can be integrated with the ROS framework. Increasingly, ROS is an excellent solution in the scope of autonomous systems, allowing the sensor to be integrated in any autonomous system that has a ROS version compatible with the developed software. The developed system has been subjected to laboratory tests that allow comparing its results with those of a system which was known. In addition, the low-cost IR system was integrated into the autonomous aerial vehicle, which confirms its good functioning and possibility of application in various application scenarios. This dissertation aimed to develop a low-cost thermographic system that can be integrated with the existing ROS architecture in robots. This allows that, since the autonomous system has the ROS framework, its integration is simple, fast and mainly low cost and with good results when compared to high cost systems.Os sistemas de percepção visual são das principais fontes de informação sensorial utilizadas por sistemas autónomos, principalmente para localização, navegação e a recolha de diferentes informações sobre os meios de operação onde se encontra. Estes sensores permitem a aquisição de uma grande quantidade de informação sobre o ambiente em que o sistema se encontra, podendo depois ser processada para extrair informação relevante para a tarefa em questão. Uma das informações que pode ser obtida ao recorrer a sistemas de visão ´e a temperatura de um determinado objeto/corpo. Esta informação pode ser adquirida recorrendo a uma câmara IR. Existem muitos objetos que emitem radiação infravermelha em função da temperatura e quanto mais alta a temperatura maior ´e a intensidade da radiação emitida por esse objeto/corpo. Esta informação pode ser útil em diversas aplicações, tais como: deteção de gases, deteção de fogos e vigilância, entre outros. Contudo, apesar de fornecerem informação complementar importante `as imagens do espectro visível, tem algumas limitações tais como a captura de imagens no escuro, e ainda o preço elevado destes sistemas. Considerando que cada vez mais existem mais veículos a baixo custo capazes de tirar proveito destes sistemas, como os UAVs, para diversas operações (por exemplo, missões de monitorização ou busca e salvamento), torna-se interessante o desenvolvimento de uma solução pequena e de baixo custo. Isto irá permitir a sua aplicação em cada vez mais veículo, diminuindo o custo das diversas operações que beneficiam destes sensores. Assim senso, recorrendo a um sensor CMOS IR de baixo custo, Lepton 3.5, desenvolveu-se o hardware e software necessários para a aquisição de dados deste sensor, através de Ethernet, integrável com a framework ROS. Cada vez mais o ROS se tem demonstrado uma excelente aposta no âmbito dos sistemas autónomos, permitindo assim que o sensor seja integrado em qualquer sistema autónomo que tenha uma versão ROS compatível com o software desenvolvido. O sistema desenvolvido foi sujeito a testes em laboratório que permitiram comparar os seus resultados com os de um sistema cuja precisão era conhecida. Além disso, realizou-se ainda a integração do sistema low-cost IR no veículo autónomo aéreo, o que permitiu confirmar o seu bom funcionamento e possibilidade de aplicação em vários cenários de aplicação. A presente dissertação visou o desenvolvimento de um sistema de visão termográfica de baixo custo, integrável `a arquitetura ROS já existente nos robôs. Isto permite que, desde que o sistema autónomo tenha a framework ROS, a sua integração seja simples, rápida, e principalmente de baixo custo e com bons resultados quando comparado com sistemas de elevado custo.Dias, André Miguel PinheiroRepositório Científico do Instituto Politécnico do PortoFerrás, Carlos Manuel de Sousa2021-10-14T15:49:55Z20212021-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10400.22/18711TID:202774295porinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T13:11:28Zoai:recipp.ipp.pt:10400.22/18711Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:38:47.724681Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Sistema de Visão Termográfico para Veículos Autónomos Aéreos |
title |
Sistema de Visão Termográfico para Veículos Autónomos Aéreos |
spellingShingle |
Sistema de Visão Termográfico para Veículos Autónomos Aéreos Ferrás, Carlos Manuel de Sousa IR Camera Thermography UAV Câmara IR Termografia |
title_short |
Sistema de Visão Termográfico para Veículos Autónomos Aéreos |
title_full |
Sistema de Visão Termográfico para Veículos Autónomos Aéreos |
title_fullStr |
Sistema de Visão Termográfico para Veículos Autónomos Aéreos |
title_full_unstemmed |
Sistema de Visão Termográfico para Veículos Autónomos Aéreos |
title_sort |
Sistema de Visão Termográfico para Veículos Autónomos Aéreos |
author |
Ferrás, Carlos Manuel de Sousa |
author_facet |
Ferrás, Carlos Manuel de Sousa |
author_role |
author |
dc.contributor.none.fl_str_mv |
Dias, André Miguel Pinheiro Repositório Científico do Instituto Politécnico do Porto |
dc.contributor.author.fl_str_mv |
Ferrás, Carlos Manuel de Sousa |
dc.subject.por.fl_str_mv |
IR Camera Thermography UAV Câmara IR Termografia |
topic |
IR Camera Thermography UAV Câmara IR Termografia |
description |
Visual perception systems are one of the main sources of sensory information used by autonomous systems, mainly for location, navigation and special information about the means of operation where it is located. These sensors allow the acquisition of a large amount of information about the environment in which the system finds itself, which can then be processed to acquire information relevant to the task in question. One of the information that can be obtained using vision systems is the temperature of a certain object/body. This information can be acquired using an IR camera. There are many objects that emit infrared radiation as a function of temperature and the higher the temperature the greater the intensity of radiation emitted by that object/body. This information can be useful in several applications, such as: gas detection, fire detection and surveillance, among others. However, despite providing important complementary information to visible spectrum images, it has some limitations such as capturing images in the dark, and also the high price of these systems. Observing that there are more and more low-cost vehicles capable of taking advantage of these systems, such as UAVs, for various operations (for example, observation or search and rescue missions), it is interesting to develop a small and efficient solution. This will allow its application in more and more vehicles, reducing the cost of the various operations that benefit from the use of these sensors. Using a low cost CMOS IR sensor, Lepton 3.5, the necessary hardware and software for the acquisition of data from this sensor was developed, through Ethernet, which can be integrated with the ROS framework. Increasingly, ROS is an excellent solution in the scope of autonomous systems, allowing the sensor to be integrated in any autonomous system that has a ROS version compatible with the developed software. The developed system has been subjected to laboratory tests that allow comparing its results with those of a system which was known. In addition, the low-cost IR system was integrated into the autonomous aerial vehicle, which confirms its good functioning and possibility of application in various application scenarios. This dissertation aimed to develop a low-cost thermographic system that can be integrated with the existing ROS architecture in robots. This allows that, since the autonomous system has the ROS framework, its integration is simple, fast and mainly low cost and with good results when compared to high cost systems. |
publishDate |
2021 |
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2021-10-14T15:49:55Z 2021 2021-01-01T00:00:00Z |
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info:eu-repo/semantics/publishedVersion |
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http://hdl.handle.net/10400.22/18711 TID:202774295 |
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