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Tracking of railroads for autonomous guidance of UAVs: using Vanishing Point detection
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
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.

Place, publisher, year, edition, pages
2018. , p. 101
Series
TRITA-ITM-EX ; 2018:189
Keywords [en]
Railroad tracking, Autonomous guidance UAV, Railroad topology, Vanishing point detection, Gabor filters, Edge detection
National Category
Computer Systems
Identifiers
URN: urn:nbn:se:kth:diva-255626OAI: oai:DiVA.org:kth-255626DiVA, id: diva2:1340139
External cooperation
Bombardier
Subject / course
Mechatronics
Educational program
Master of Science in Engineering - Mechanical Engineering
Presentation
2018-05-31, Earnen, Stockholm, 14:00 (English)
Supervisors
Examiners
Available from: 2019-11-13 Created: 2019-08-02 Last updated: 2019-11-13Bibliographically approved

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