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Video-rate environment recognition through depth image plane segmentation for indoor service robot applications on an embedded system
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

As personal service robots are expected to gain widespread use in the near future there is a need for these robots to function properly in a large number of different environments. In order to acquire such an understanding this thesis focuses on implementing a depth image based planar segmentation method based on the detection of 3-D edges in video-rate speed on an embedded system. The use of plane segmentation as a mean of understanding an unknown environment was chosen after a thorough literature review that indicated that this was the most promising approach capable of reaching video-rate speeds. The camera used to capture depth images is a Kinect for Xbox One, which makes video-rate speed 30 fps, as it is suitable for use in indoor environments and the embedded system is a Jetson TX1 which is capable of running GPU-accelerated algorithms. The results show that the implemented method is capable of segmenting depth images at video-rate speed at half the original resolution. However, full-scale depth images are only segmented at 10-12 fps depending on the environment which is not a satisfactory result.

Place, publisher, year, edition, pages
2017. , 52 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:mdh:diva-35595OAI: oai:DiVA.org:mdh-35595DiVA: diva2:1106533
Supervisors
Examiners
Available from: 2017-09-12 Created: 2017-06-07 Last updated: 2017-09-12Bibliographically approved

Open Access in DiVA

fulltext(5959 kB)36 downloads
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Type fulltextMimetype application/pdf

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School of Innovation, Design and Engineering
Robotics

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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