Inferring roof semantics for more accurate solar potential assessment

Led in cooperation with the company Brink, who provides management and consultation services for construction and real estate sectors, this Synthesis Project aims at automatically deriving meaningful information about buildings. More precisely, the focus is to automatically detect roof obstacles - such as dormers, chimneys, and solar panels - to...

OPAL: A Stereo Vision Obstacle Processing ALgorithm for a Walking Lunar Rover

The Lunar Zebro is a small six-legged robot. It has the potential to be used in a swarm carrying out objectives like exploring planetary surfaces. A new step towards autonomous navigation is made with the newly developed Obstacle Processing ALgorithm (OPAL) using primarily open-source libraries. This study showed that the initial iteration of...

Obstacle Detection and Avoidance onboard an MAV using a Monocular Event-based Camera

Micro Air Vehicles (MAVs) are able to support humans in dangerous operations, such as search and rescue operations at night on unknown terrain. These scenes require a great amount of autonomy from the MAV, as they are often radio and GPS-denied. As MAVs have limited computational resources and energy storage, onboard navigation tasks have to be...

Ship Hull Cleaning Robots: Obstacle Detection Using a Forward Looking Sonar System

Fouling (algae, slime, and barnacles) on the hull of large cargo vessels is undesirable because it increases their frictional drag, resulting in an increased fuel consumption. As a solution, Fleet Cleaner introduced a ship hull cleaning robot that maneuvers on the hull, using powered wheels and magnets. The robot is controlled by a human...

From point clouds to 3D isovists in indoor environments

Visibility is a common measure to describe the spatial properties of an environment related to the spatial behaviour. Isovists represent the space that can be seen from one observation point, and they are used to analyse the existence of obstacles affecting or blocking intervisibility in an area. Although point clouds depict the as-built...

Environment Observation Module for the Deci Zebro: Obstacle and Motion Detection using a Laser Rangefinder and Optical Flow

A Camera Submodule for the Environment Observation Module for a Zebro robot was designed. It is able to collect and process data about obstacles on a Raspberry Pi and send this to the main processor of the Environment Observation module using UART. <br/>The two main functions that were implemented are a laser rangefinder based on triangulation...

Autonomous landing of Micro Air Vehicles through bio-inspired monocular vision

Obstacle and Cliff Detection for Robotics Applications Using Miniturized Sonar and IR Distance Triangulation: Environment Observation Module For The Deci Zebro

This is a bachelor thesis about the design and development of an observation and sensing module for the Deci Zebro robot that is being developed at the EEMCS faculty of Delft University of Technology.<br/>This part of the thesis is about the development of a cliff- and obstacle detection system, as well as the...