Obstacle avoidance with optic flow

dc.contributor.advisorSmit, W. J.en_ZA
dc.contributor.authorCraeye, Cian Alexanderen_ZA
dc.contributor.otherStellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering (CRSES)en_ZA
dc.descriptionThesis (MEng)--Stellenbosch University, 2019.en_ZA
dc.description.abstractENGLISH ABSTRACT: In order to determine the potential of using optical flow as an instrument for quadcopter navigation, a real-time depth estimation system was created. The system was programmed in Python and made use of: FAST algorithm to detect key points, Lucas-Kanade pyramid algorithm to calculate the optical flow, different geometrical relationships to calculate depth from translation and Euler angles to negate the effects of rotation. A simulated testing environment created in the Unity game engine was used to successfully test the overall performance, accuracy and robustness of the system. The positive results from the system and component tests proved that there is potential in using optical flow in quadcopter navigation.en_ZA
dc.description.abstractAFRIKAANSE OPSOMMING: Ten einde die potensiaal van optiese vloei as 'n instrument vir hommeltuig navigasie te bepaal, is 'n intydse diepte skattingstelsel geskep. Die stelsel is in Python geprogrammeer en maak gebruik van: FAST-algoritme om sleutelpunte te bepaal, Lucas-Kanade piramide algoritme om optiese vloei op te spoor, verskillende geometriese verhoudings om diepte van beweging te bereken en Euler-hoeke om die effekte van rotasie te negeer. 'n Gesimuleerde toetsomgewing wat in die Unity enjin geskep is, is gebruik om die algehele prestasie, akkuraatheid en robuustheid van die stelsel suksesvol te toets. Die positiewe resultate van die stelsel- en komponenttoetse het getoon dat daar potensiaal is in die gebruik van optiese vloei in hommeltuig navigasie.af_ZA
dc.format.extentxii, 98 pages : illustrationsen_ZA
dc.publisherStellenbosch : Stellenbosch Universityen_ZA
dc.subjectFAST algorithmen_ZA
dc.subjectLucas-Kanade pyramid algorithmen_ZA
dc.subjectQuadrotor helicopters -- Navigationen_ZA
dc.subjectImage processing -- Digital techniquesen_ZA
dc.titleObstacle avoidance with optic flowen_ZA
dc.rights.holderStellenbosch Universityen_ZA

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