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3D modeling of mineshaft using autonomous quad rotor
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
2017 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this master's thesis a multirotor with the ability to scan its surroundingswas built. To be able to produce these scans the multirotor will be equippedwith a custom built 3D LIDAR. In the future, the scans will be used togenerate a 3D map to visualize mineshafts in a well suited way for inspections.This multirotor is designed with the purpose to map mineshafts that areinaccessible to humans, due to safety reasons. To produce a 3D map of themultirotor surroundings the absolute position is needed. Since the multirotorwill be used in an environment where GPS is unavailable, the positioning issolved by utilizing an IMU and Computer Vision technology with a Rangingdevice.The functionality has been tested in a lab environment resembling real lifeoperational conditions, and conrms that it is possible to use this approachto scan an environment where it is possible to have the multirotor in line-ofsightfor the camera.The 3D scanning is relaying on a stable Wi-Fi connection and absolute positionand as long as this is established it is possible to use this point cloudfor inspection.The positioning of the multirotor is tested up to a range of 40 m, with amaximum measured accuracy of 5 cm, which is well within the range ofthe requirements of the application.

Place, publisher, year, edition, pages
2017. , 80 p.
National Category
Embedded Systems Computer Systems Communication Systems Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-65431OAI: oai:DiVA.org:ltu-65431DiVA: diva2:1137298
External cooperation
Concurrent Engineering Experts Conex AB
Subject / course
Student thesis, at least 30 credits
Educational program
Engineering Physics and Electrical Engineering, master's level
Supervisors
Examiners
Projects
D3DSM
Available from: 2017-11-14 Created: 2017-08-30 Last updated: 2017-11-14Bibliographically approved

Open Access in DiVA

fulltext(7139 kB)3 downloads
File information
File name FULLTEXT02.pdfFile size 7139 kBChecksum SHA-512
654508593756a26c448f4ed129d09b1ad7c7bed3da24fa58c7ebb48e4a95d2a74ee03cde97c8bc213bf8cd3f2a8353c9c4959e153c661f9250daa642b6c614e9
Type fulltextMimetype application/pdf

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Embedded Internet Systems Lab
Embedded SystemsComputer SystemsCommunication SystemsControl Engineering

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
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  • en-US
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  • nn-NO
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