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Obstacle avoidance with optic flow
Thesis (MEng)--Stellenbosch University, 2019.
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| Other Authors: | |
| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2019
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| _version_ | 1867613911251943424 |
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| access_status_str | Open Access |
| author | Craeye, Cian Alexander |
| author2 | Smit, W. J. |
| author_browse | Craeye, Cian Alexander Smit, W. J. |
| author_facet | Smit, W. J. Craeye, Cian Alexander |
| author_sort | Craeye, Cian Alexander |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MEng)--Stellenbosch University, 2019. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/106146 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:43:40.048Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2019 |
| publishDateRange | 2019 |
| publishDateSort | 2019 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/106146 Obstacle avoidance with optic flow Craeye, Cian Alexander Smit, W. J. Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering (CRSES) FAST algorithm Lucas-Kanade pyramid algorithm Quadrotor helicopters -- Navigation Image processing -- Digital techniques UCTD Thesis (MEng)--Stellenbosch University, 2019. ENGLISH ABSTRACT: In order to determine the potential of using optical flow as an instrument for quadcopter navigation, a real-time depth estimation system was created. The system was programmed in Python and made use of: FAST algorithm to detect key points, Lucas-Kanade pyramid algorithm to calculate the optical flow, different geometrical relationships to calculate depth from translation and Euler angles to negate the effects of rotation. A simulated testing environment created in the Unity game engine was used to successfully test the overall performance, accuracy and robustness of the system. The positive results from the system and component tests proved that there is potential in using optical flow in quadcopter navigation. AFRIKAANSE OPSOMMING: Ten einde die potensiaal van optiese vloei as 'n instrument vir hommeltuig navigasie te bepaal, is 'n intydse diepte skattingstelsel geskep. Die stelsel is in Python geprogrammeer en maak gebruik van: FAST-algoritme om sleutelpunte te bepaal, Lucas-Kanade piramide algoritme om optiese vloei op te spoor, verskillende geometriese verhoudings om diepte van beweging te bereken en Euler-hoeke om die effekte van rotasie te negeer. 'n Gesimuleerde toetsomgewing wat in die Unity enjin geskep is, is gebruik om die algehele prestasie, akkuraatheid en robuustheid van die stelsel suksesvol te toets. Die positiewe resultate van die stelsel- en komponenttoetse het getoon dat daar potensiaal is in die gebruik van optiese vloei in hommeltuig navigasie. 2019-02-27T08:56:19Z 2019-04-17T08:30:59Z 2019-02-27T08:56:19Z 2019-04-17T08:30:59Z 2019-04 Thesis http://hdl.handle.net/10019.1/106146 en_ZA Stellenbosch University xii, 98 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | FAST algorithm Lucas-Kanade pyramid algorithm Quadrotor helicopters -- Navigation Image processing -- Digital techniques UCTD Craeye, Cian Alexander Obstacle avoidance with optic flow |
| title | Obstacle avoidance with optic flow |
| title_full | Obstacle avoidance with optic flow |
| title_fullStr | Obstacle avoidance with optic flow |
| title_full_unstemmed | Obstacle avoidance with optic flow |
| title_short | Obstacle avoidance with optic flow |
| title_sort | obstacle avoidance with optic flow |
| topic | FAST algorithm Lucas-Kanade pyramid algorithm Quadrotor helicopters -- Navigation Image processing -- Digital techniques UCTD |
| url | http://hdl.handle.net/10019.1/106146 |
| work_keys_str_mv | AT craeyecianalexander obstacleavoidancewithopticflow |