Frustumbug: a 3D Mapless Stereo-Vision-based Bug Algorithm for Micro Air Vehicles

We present a computationally cheap 3D bug algorithm for drones, using stereo vision. Obstacle avoidance is important, but difficult for robots with limited resources, such as drones. Stereo vision requires less weight and power than active distance measurement sensors, but typically has a limited Field of View (FoV). In addition, the stereo...

Non-destructive Infield Quality Estimation of Strawberries using Deep Architectures

Strawberries have a short shelf-life time and thus need to be harvested at the right time to reduce waste. To this end, information about quality attributes is useful. Recently, many computer vision methods have been proposed. Most literature analyzes postharvest, which means that strawberries can only be analyzed after harvesting. As a result,...

Stereo Matching for Martian Surface Depth Estimation on a Single-Board Computer

Stereo matching, the process of inferring depth maps from stereo images, is one of the most heavily investigated topics in computer vision. It is part of the first module of navigation systems of planetary rovers, e.g., NASA’s Mars Exploration Rover (MER) missions, NASA’s Mars Science Laboratory (MSL) mission, and ESA’s ExoMars mission. Many...

The effect of bow wave breaking on added resistance

Stimulated by the energy efficiency indices introduced by the International Maritime Organization, the increased attention for the environment as well as economical pressures emphasize the relevance of accurate resistance estimation for ships. This leads to a particular interest for added resistance in waves, a resistance component that is...

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...

Multiple Objects Detection and Tracking Using Stereo Cameras

The idea of autonomous driving was merely just a dream about 5 years<br/>ago but now, with the advancements in technology, it has become prevalent.<br/>The aim of this thesis is to provide a low-cost approach for detecting and<br/>tracking moving objects from a moving platform. This could be used for<br/>an autonomous vehicle to automatically...

Development of a topographical imaging device for the near-planar surfaces of paintings

Paintings are versatile near-planar objects with material characteristics that vary widely. The fact that paint has a material presence is often overlooked, mostly because of the fact that we encounter many of these artworks through two dimensional reproductions. The capture of paintings in the third dimension is not only interesting for study,...

Collecting Relevant Environmental Parameters for Surgical Lighting Control

During the surgery, the lighting unit often needs to be manually adapted. However, the manual manipulation may cause loss of concentration, loss of time and increased risk of infections. To improve the manipulation, a semi-automated lighting system commanded by the surgeon is suggested. The commands are given via a pointer device to indicate the...

3D Information Extraction Based on GPU

Our project starts from a practical specific application of stereo vision (matching) on a robot arm, which is first building up a vision system for a robot arm to make it obtain the capability of detecting the objects 3D information on a plane. The kernel of the vision system is stereo matching. Stereo matching(correspondence) problem has been...

3DTV Rendering from Multiple Cameras

In this master's thesis a framework for the rendering of scenes for 3DTV applications is presented. The goal of our work is to investigate ways to generate virtual views of a scene captured using a relatively small number of real cameras. The approach adopted uses per-pixel operations and therefore is suitable for fast parallel implementation. A...