Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"

Detalhes bibliográficos
Autor(a) principal: André Silva Pinto de Aguiar
Data de Publicação: 2019
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://hdl.handle.net/10216/121088
Resumo: One of the main challenges in robotics is to develop accurate localization methods that achieve acceptable runtime performances.One of the most common approaches is to use Global Navigation Satellite System such as GPS to localize robots.However, satellite signals are not full-time available in some kind of environments.The purpose of this dissertation is to develop a localization system for a ground robot.This robot is inserted in a project called RoMoVi and is intended to perform tasks like crop monitoring and harvesting in steep slope vineyards.This vineyards are localized in the Douro region which are characterized by the presence of high hills.Thus, the context of RoMoVi is not prosperous for the use of GPS-based localization systems.Therefore, the main goal of this work is to create a reliable localization system based on vision techniques and low cost sensors.To do so, a Visual Odometry system will be used.The concept of Visual Odometry is equivalent to wheel odometry but it has the advantage of not suffering from wheel slip which is present in these kind of environments due to the harsh terrain conditions.Here, motion is tracked computing the homogeneous transformation between camera frames, incrementally.However, this approach also presents some open issues.Most of the state of art methods, specially those who present a monocular camera system, don't perform good motion estimations in pure rotations.In some of them, motion even degenerates in these situations.Also, computing the motion scale is a difficult task that is widely investigated in this field.This work is intended to solve these issues.To do so, fisheye lens cameras will be used in order to achieve wide vision field of views.
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spelling Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"Engenharia electrotécnica, electrónica e informáticaElectrical engineering, Electronic engineering, Information engineeringOne of the main challenges in robotics is to develop accurate localization methods that achieve acceptable runtime performances.One of the most common approaches is to use Global Navigation Satellite System such as GPS to localize robots.However, satellite signals are not full-time available in some kind of environments.The purpose of this dissertation is to develop a localization system for a ground robot.This robot is inserted in a project called RoMoVi and is intended to perform tasks like crop monitoring and harvesting in steep slope vineyards.This vineyards are localized in the Douro region which are characterized by the presence of high hills.Thus, the context of RoMoVi is not prosperous for the use of GPS-based localization systems.Therefore, the main goal of this work is to create a reliable localization system based on vision techniques and low cost sensors.To do so, a Visual Odometry system will be used.The concept of Visual Odometry is equivalent to wheel odometry but it has the advantage of not suffering from wheel slip which is present in these kind of environments due to the harsh terrain conditions.Here, motion is tracked computing the homogeneous transformation between camera frames, incrementally.However, this approach also presents some open issues.Most of the state of art methods, specially those who present a monocular camera system, don't perform good motion estimations in pure rotations.In some of them, motion even degenerates in these situations.Also, computing the motion scale is a difficult task that is widely investigated in this field.This work is intended to solve these issues.To do so, fisheye lens cameras will be used in order to achieve wide vision field of views.2019-07-052019-07-05T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/10216/121088TID:202389715engAndré Silva Pinto de Aguiarinfo: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:RCAAP2023-11-29T13:37:22Zoai:repositorio-aberto.up.pt:10216/121088Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:44:06.022461Repositório 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 Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"
title Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"
spellingShingle Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"
André Silva Pinto de Aguiar
Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
title_short Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"
title_full Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"
title_fullStr Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"
title_full_unstemmed Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"
title_sort Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"
author André Silva Pinto de Aguiar
author_facet André Silva Pinto de Aguiar
author_role author
dc.contributor.author.fl_str_mv André Silva Pinto de Aguiar
dc.subject.por.fl_str_mv Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
topic Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
description One of the main challenges in robotics is to develop accurate localization methods that achieve acceptable runtime performances.One of the most common approaches is to use Global Navigation Satellite System such as GPS to localize robots.However, satellite signals are not full-time available in some kind of environments.The purpose of this dissertation is to develop a localization system for a ground robot.This robot is inserted in a project called RoMoVi and is intended to perform tasks like crop monitoring and harvesting in steep slope vineyards.This vineyards are localized in the Douro region which are characterized by the presence of high hills.Thus, the context of RoMoVi is not prosperous for the use of GPS-based localization systems.Therefore, the main goal of this work is to create a reliable localization system based on vision techniques and low cost sensors.To do so, a Visual Odometry system will be used.The concept of Visual Odometry is equivalent to wheel odometry but it has the advantage of not suffering from wheel slip which is present in these kind of environments due to the harsh terrain conditions.Here, motion is tracked computing the homogeneous transformation between camera frames, incrementally.However, this approach also presents some open issues.Most of the state of art methods, specially those who present a monocular camera system, don't perform good motion estimations in pure rotations.In some of them, motion even degenerates in these situations.Also, computing the motion scale is a difficult task that is widely investigated in this field.This work is intended to solve these issues.To do so, fisheye lens cameras will be used in order to achieve wide vision field of views.
publishDate 2019
dc.date.none.fl_str_mv 2019-07-05
2019-07-05T00:00:00Z
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TID:202389715
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