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Panoramic image construction and height mapping using a quadcopter

Musters, A.B. (2013) Panoramic image construction and height mapping using a quadcopter. Bachelor's Thesis, Artificial Intelligence.

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Abstract

This thesis describes the use of SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Features) feature detection algorithms to make in flight panoramic pictures on a quadcopter. The quadcopter is an affordable UAV (Unmanned Aerial Vehicle) called AR.Drone from the company Parrot. We concentrate on indoor use, so GPS location systems can not be used. A single forward motion path is chosen for the making of the panoramic pictures. We chose the single path to decrease the problem complexity. At the same time it also constructs a height map using its onboard ultrasonic sensor. We also describe basic techniques/concepts as: sensors in- and output, obstacle avoidance and a PID controller, which can be used as a start up to real-world simultaneous localization and mapping (SLAM).

Item Type: Thesis (Bachelor's Thesis)
Supervisor:
Supervisor nameSupervisor E mail
Wiering, M.A.UNSPECIFIED
Zant, C. M. vanUNSPECIFIED
Degree programme: Artificial Intelligence
Thesis type: Bachelor's Thesis
Language: English
Date Deposited: 15 Feb 2018 07:54
Last Modified: 02 May 2019 11:26
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/11244

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