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Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics
Includes bibliographical references.
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| Main Author: | |
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
| Published: |
Department of Electrical Engineering
2015
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| _version_ | 1867613305749635072 |
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| access_status_str | Open Access |
| author | O'Regan, Katherine |
| author2 | Verrinder, Robyn |
| author_browse | O'Regan, Katherine Verrinder, Robyn |
| author_facet | Verrinder, Robyn O'Regan, Katherine |
| author_sort | O'Regan, Katherine |
| collection | Thesis |
| description | Includes bibliographical references. |
| format | Thesis |
| id | oai:open.uct.ac.za:11427/13202 |
| institution | University of Cape Town (South Africa) |
| language | eng |
| last_indexed | 2026-06-10T12:34:00.978Z |
| license_str | Not specified — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UCTD — University of Cape Town Open Access Repository |
| publishDate | 2015 |
| publishDateRange | 2015 |
| publishDateSort | 2015 |
| publisher | Department of Electrical Engineering |
| publisherStr | Department of Electrical Engineering |
| record_format | dspace |
| source_str | UCTD — University of Cape Town Open Access Repository |
| spelling | oai:open.uct.ac.za:11427/13202 Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics O'Regan, Katherine Verrinder, Robyn Nicolls, Fred Electrical Engineering Includes bibliographical references. The Microsoft Kinect sensor is a low cost RGB-D sensor. In this dissertation, its calibration is fully investigated and then these parameters are compared to the parameters given by Microsoft and OpenNI. The parameters found were found to be different to those given by Microsoft and OpenNI therefore, every Kinect should be fully calibrated. The transformation from the raw data to a point cloud is also investigated. Then, the Hough transform is presented in its 2-dimensional form. The Hough transform is a line extraction algorithm which uses a voting system. It is then compared to the Split-and-Merge algorithm using laser range _nder data. The Hough transform is found to compare well to the Split-and-Merge in 2 dimensions. Finally, the Hough transform is extended into 3-dimensions for use with the Kinect sensor. It was found that pre-processing of the Kinect data was necessary to reduce the number of points input into the Hough transform. Three edge detectors are used - the LoG, Canny and Sobel edge detectors. These were compared, and the Sobel detector was found to be the best. The _nal process was then used in multiple ways - _rst to determine its speed. Its accuracy was then investigated. It was found that the planes extracted were very inaccurate, and therefore not suitable for obstacle avoidance in mobile robotics. The suitability of the process for SLAM was also investigated. It was found to be unsuitable, as planar environments did not have distinct features which could be tracked, whilst the complex environment was not planar, and therefore the Hough transform would not work. 2015-07-01T08:47:27Z 2015-07-01T08:47:27Z 2014 Master Thesis Masters MSc http://hdl.handle.net/11427/13202 eng application/pdf Department of Electrical Engineering Faculty of Engineering and the Built Environment University of Cape Town |
| spellingShingle | Electrical Engineering O'Regan, Katherine Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics |
| thesis_degree_str | Master's |
| title | Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics |
| title_full | Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics |
| title_fullStr | Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics |
| title_full_unstemmed | Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics |
| title_short | Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics |
| title_sort | investigation into the use of the microsoft kinect and the hough transform for mobile robotics |
| topic | Electrical Engineering |
| url | http://hdl.handle.net/11427/13202 |
| work_keys_str_mv | AT oregankatherine investigationintotheuseofthemicrosoftkinectandthehoughtransformformobilerobotics |