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Tracking of railroads for autonomous guidance of UAVs: using Vanishing Point detection
KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Mekatronik.
2018 (Engelska)Självständigt arbete på avancerad nivå (masterexamen), 20 poäng / 30 hpStudentuppsats (Examensarbete)
Abstract [en]

UAVs have gained in popularity and the number of applications has soared over the past

years, ranging from leisure to commercial activities. This thesis is discussing specifically

railroad applications, which is a domain rarely explored. Two different aspects are analysed.

While developing a new application or migrating a ground-based system to UAV platform,

the different challenges encountered are often unknown. Therefore, this thesis highlights the

most important ones to take into consideration during the development process.

From a more technical aspect, the implementation of autonomous guidance for UAVs

over railroads using vanishing point extraction is studied. Two different algorithms are

presented and compared, the first one is using line extraction method whereas the second

uses joint activities of Gabor filters. The results demonstrate that the applied methodologies

provide good results and that a significant difference exists between both algorithms in terms

of computation time.

A second implementation tackling the detection of railway topologies to enable the

use on multiple rail road configurations is discussed. A first technique is presented using

exclusively vanishing points for the detection, however, the results for complex images are

not satisfactory. Therefore, a second method is studied using line characteristics on top of

the previous algorithm. This second implementation has proven to give good results.

Ort, förlag, år, upplaga, sidor
2018. , s. 101
Serie
TRITA-ITM-EX ; 2018:189
Nyckelord [en]
Railroad tracking, Autonomous guidance UAV, Railroad topology, Vanishing point detection, Gabor filters, Edge detection
Nationell ämneskategori
Datorsystem
Identifikatorer
URN: urn:nbn:se:kth:diva-255626OAI: oai:DiVA.org:kth-255626DiVA, id: diva2:1340139
Externt samarbete
Bombardier
Ämne / kurs
Mekatronik
Utbildningsprogram
Civilingenjörsexamen - Maskinteknik
Presentation
2018-05-31, Earnen, Stockholm, 14:00 (Engelska)
Handledare
Examinatorer
Tillgänglig från: 2019-11-13 Skapad: 2019-08-02 Senast uppdaterad: 2019-11-13Bibliografiskt granskad

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