THESIS
2016
Abstract
Quadcopter research and application have drawn great attention in the past years. Recent successful
commercialization of quadcopter make it become a popular tool applied in aerial photography,
surveillance, Precision Farming. There is no doubt that in these applications, environment perception
is a core capability for safe flight, in the meantime, it is a challenging problem in the real
flight environment. This thesis presents the stereo vision system for the safe flight of a quadcopter.
Firstly, we develop a traditional parallel pinhole stereo vision for depth capture after an accurate
calibration procedure. A long baseline and rigid mount of the stereo camera enable the quadcopter
to measure a long range distance from 0.5m to 15m. The Field of View of the pinhole stereo vision...[
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Quadcopter research and application have drawn great attention in the past years. Recent successful
commercialization of quadcopter make it become a popular tool applied in aerial photography,
surveillance, Precision Farming. There is no doubt that in these applications, environment perception
is a core capability for safe flight, in the meantime, it is a challenging problem in the real
flight environment. This thesis presents the stereo vision system for the safe flight of a quadcopter.
Firstly, we develop a traditional parallel pinhole stereo vision for depth capture after an accurate
calibration procedure. A long baseline and rigid mount of the stereo camera enable the quadcopter
to measure a long range distance from 0.5m to 15m. The Field of View of the pinhole stereo vision
system is 70°. Secondly, we explore a novel Up & Down Configuration fisheye stereo vision
system which enable the quadcopter to perceive the environment with 360° Field of View just in a
single frame.
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