Show simple item record

dc.contributor.authorGoldman, Benjamin Josephen_US
dc.date.accessioned2013-05-25T08:00:24Z
dc.date.available2013-05-25T08:00:24Z
dc.date.issued2013-05-24en_US
dc.identifier.othervt_gsexam:1068en_US
dc.identifier.urihttp://hdl.handle.net/10919/23094
dc.description.abstractPerception is a key feature in how any creature or autonomous system relates to its environment. While there are many types of perception, this thesis focuses on the improvement of the visual robotics perception systems. By implementing a broadband passive sensing system in conjunction with current perception algorithms, this thesis explores scene reconstruction and world modeling.
The process involves two main steps. The first is stereo correspondence using block matching algorithms with filtering to improve the quality of this matching process. The disparity maps are then transformed into 3D point clouds. These point clouds are filtered again before the registration process is done. The registration uses a SAC-IA matching technique to align the point clouds with minimum error.  The registered final cloud is then filtered again to smooth and down sample the large amount of data. This process was implemented through software architecture that utilizes Qt, OpenCV, and Point Cloud Library. It was tested using a variety of experiments on each of the components of the process.  It shows promise for being able to replace or augment existing UGV perception systems in the future.
en_US
dc.format.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectUnmanned Ground Vehiclesen_US
dc.subjectRobotic perceptionen_US
dc.subjectBroadband camerasen_US
dc.subject3D Scene Reconstructionen_US
dc.titleBroadband World Modeling and Scene Reconstructionen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineMechanical Engineeringen_US
dc.contributor.committeechairWicks, Alfred L.en_US
dc.contributor.committeememberKochersberger, Kevin Bruceen_US
dc.contributor.committeememberMeehan, Kathleenen_US


Files in this item

Thumbnail
Thumbnail

This item appears in the following Collection(s)

Show simple item record