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Exploration and Mapping of Warehouses Using QuadrotorHelicopters
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE).
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE).
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 30 credits / 45 HE creditsStudent thesis
Abstract [en]

The goal of this thesis work is mapping of warehouse infrastructure using AR.Drone, aquadro helicopter equipped with a wide angle camera as its main sensor for mapping.Parallel Tracking and Mapping algorithm is employed for localization and creationof 3D point cloud of corner feature in the environment. Our approach for mapping was adata fusion algorithm that combines point cloud data from PTAM with estimated pillarpositions extracted by multi-stage image analysis algorithm.The methods implemented in ROS and Matlab has been successfully tested in real warehouseenvironment. The system is capable of creating an accurate map if some factorsare controlled. Details of results and analysis of methods are provided.

Place, publisher, year, edition, pages
2013. , 74 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:hh:diva-24007Local ID: IDE1317OAI: oai:DiVA.org:hh-24007DiVA: diva2:666057
Subject / course
Information Technology
Presentation
2013-10-07, B231, Kristian IV:s väg 3, 301 18 Halmstad, Halmstad, 08:15 (English)
Supervisors
Examiners
Projects
Automatic Inventory and Mapping of Stock
Available from: 2013-11-22 Created: 2013-11-21 Last updated: 2013-11-22Bibliographically approved

Open Access in DiVA

Exploration and Mapping of Warehouses Using Quadrotor Helicopters(13698 kB)3570 downloads
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File name FULLTEXT01.pdfFile size 13698 kBChecksum SHA-512
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Type fulltextMimetype application/pdf

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf