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View Planning for Objects Modeling using UAVs
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Vyplanering för objektmodellering med UAVer (Swedish)
Abstract [en]

View planning is an important part of achieving full robotic autonomy. The ability to incorporate the view of a robot as well as the ability of evaluating and choosing the best view are highly desired abilities for a wide variety of robotics applications. In this work we present a new iterative optimization scheme and evaluational method in order to choose the Next Best View in the framework of object modeling. As unmanned aerial vehicles (UAVs) become more and more common we take advantage of the additional degrees of freedom a UAV offers. We show, in simulation, that the proposed method is able to pick out views that are highly relevant in order to model the observed object in question. It is shown that with iterative optimization the resulting view is improved. Additional experiments where the method is deployed onto a real UAV show the real-world applicability of the method.

Abstract [sv]

Planering av hur vyer för bildinhämtning skall väljas är en viktig del för att uppnå full robotautonomi. Att kunna infoga information från olika vyer samt att välja den bästa vyn är viktigt för många olika robottillämpningar. I det här arbetet presenterar vi en ny iterativ optimeringsbaserad metod för att välja bästa nästa vy inom ramen för objektmodellering.

I takt med att flygande robotar, s.k. UAVer, blir allt vanligare kan vi utnyttja de ytterligare frihetsgraderna som ett UAV-system ger. Vi visar i simulering att den föreslagna metoden kan välja ut vyer som är relevanta för att modellera ett visst objekt och att vyerna förbättras genom vår iterativa optimering. Experiment på en verklig UAV visar att metoden är tillämpbar i praktiken.

Place, publisher, year, edition, pages
2017. , p. 48
Keyword [en]
view planning object modeling UAV
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:kth:diva-220446OAI: oai:DiVA.org:kth-220446DiVA, id: diva2:1168512
Subject / course
Computer Science
Educational program
Master of Science - Systems, Control and Robotics
Presentation
2017-12-15, 304, Teknikringen 14, Stockholm, 18:29 (English)
Supervisors
Examiners
Available from: 2017-12-22 Created: 2017-12-20 Last updated: 2018-01-13Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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