3-D Point Cloud Generation from Rigid and Flexible Stereo Vision Systems

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dc.contributor.authorShort, Nathaniel Jacksonen
dc.contributor.committeechairAbbott, A. Lynnen
dc.contributor.committeecochairKochersberger, Kevin B.en
dc.contributor.committeememberBroadwater, Robert P.en
dc.contributor.departmentElectrical and Computer Engineeringen
dc.date.accessioned2014-03-14T20:50:43Zen
dc.date.adate2010-01-07en
dc.date.available2014-03-14T20:50:43Zen
dc.date.issued2009-12-04en
dc.date.rdate2010-01-07en
dc.date.sdate2009-12-23en
dc.description.abstractWhen considering the operation of an Unmanned Aerial Vehicle (UAV) or an Unmanned Ground Vehicle (UGV), such problems as landing site estimation or robot path planning become a concern. Deciding if an area of terrain has a level enough slope and a wide enough area to land a Vertical Take Off and Landing (VTOL) UAV or if an area of terrain is traversable by a ground robot is reliant on data gathered from sensors, such as cameras. 3-D models, which can be built from data extracted from digital cameras, can help facilitate decision making for such tasks by providing a virtual model of the surrounding environment the system is in. A stereo vision system utilizes two or more cameras, which capture images of a scene from two or more viewpoints, to create 3-D point clouds. A point cloud is a set of un-gridded 3-D points corresponding to a 2-D image, and is used to build gridded surface models. Designing a stereo system for distant terrain modeling requires an extended baseline, or distance between the two cameras, in order to obtain a reasonable depth resolution. As the width of the baseline increases, so does the flexibility of the system, causing the orientation of the cameras to deviate from their original state. A set of tools have been developed to generate 3-D point clouds from rigid and flexible stereo systems, along with a method for applying corrections to a flexible system to regain distance accuracy in a flexible system.en
dc.description.degreeMaster of Scienceen
dc.identifier.otheretd-12232009-222118en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-12232009-222118/en
dc.identifier.urihttp://hdl.handle.net/10919/36426en
dc.publisherVirginia Techen
dc.relation.haspartShort_NJ_T_2009.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectStereo Visionen
dc.subjectDrone aircraften
dc.subjectVTOLen
dc.subjectCamera Calibrationen
dc.subjectTerrain Mappingen
dc.title3-D Point Cloud Generation from Rigid and Flexible Stereo Vision Systemsen
dc.typeThesisen
thesis.degree.disciplineElectrical and Computer Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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