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Reconstructing a 3D room from a Kinect carrying UAV
Author(s)
Date Issued
2019-07-20
Date Available
2019-04-08T12:04:15Z
Abstract
This project focuses on the creation of a portable SLAM (Simultaneous Localisation and Mapping) system, which uses an Unmanned Aerial Vehicle (UAV) as the transportation medium. The main purpose of the system is to create a 3D map of the environment, while concurrently localizing itself within the map. The real world applications of this system concentrate on search and rescue scenarios. The system uses the Microsoft Kinect as its primary sensor. Within this project we utilized Visual SLAM, which is the process of using data from the Kinect sensor to calculate position. The algorithm looked at successive frames and depth estimates from the Kinect and then matched features across the images to calculate distance and stability. The work presented in this paper is approached from a practical point of view rather than purely theoretical basis. The end result is a physical prototype which is ready to be deployed in the field for further testing.
Type of Material
Conference Publication
Publisher
Springer
Series
Communications in Computer and Information Science
Volume: 1035
Copyright (Published Version)
2019 Springer
Web versions
Language
English
Status of Item
Peer reviewed
Part of
Santosh K., Hegadi R. (eds.). Recent Trends in Image Processing and Pattern Recognition
Conference Details
The Second International Conference on Recent Trends in Image Processing & Pattern Recognition (rtip2r2018), Maharastra State, India, 21-22 December
ISBN
978-981-13-9180-4
This item is made available under a Creative Commons License
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