3D mapping and change detection for patrolling mobile robots
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URL
Journal Title
Journal ISSN
Volume Title
Perustieteiden korkeakoulu |
Master's thesis
Authors
Date
2021-08-23
Department
Major/Subject
Autonomous Systems
Mcode
ELEC3055
Degree programme
Master's Programme in ICT Innovation
Language
en
Pages
102
Series
Abstract
The goal of this thesis was twofold: First, the capabilities of the ZED 2 stereo vision camera were to be assessed to determine whether the camera is suitable to use in real-time applications. Second, the thesis investigated the possibility of implementing a real-time change detection system using the camera. The camera came with very little information regarding its performance. Therefore, in this thesis, a large set of experiments were carried out to evaluate the performance of the camera with respect to depth accuracy and consistency, visual tracking and relocalization accuracy, and object detection performance. Through testing, it has been verified that the camera is able to provide fast and accurate depth measurements, 3D position information and object detection data. Thus, the ZED 2 stereo camera is suitable for real time applications. Furthermore, a 3D change detection system was designed which was built around the concept of semantic object maps using the ZED 2 stereo camera. The proposed algorithm is able to maintain a coherent semantic object map of the environment and detect object-level changes between consecutive patrol routes.Description
Supervisor
Istenes, ZoltánThesis advisor
Majdik, AndrásKeywords
robot perception, 3D mapping, object detection, change detection, mobile robot