Ota-quadrotor: An Object-tracking Autonomous Quadrotor for Real-time Detection and Recognition

Description:

The field of robotics and mechatronics is advancing at an ever-increasing rate and we are starting to see robots making the transition from the factories to the workplace and homes as cost is reduced and they become more useful. In recent years quadrotors have become a popular unmanned air vehicle (UAV) platform. These UAVs or micro air vehicles (MAV) are being used for many new and exciting applications such as aerial monitoring of wildlife, disaster sites, riots and protests. They are also being used in the film industry, as they are significantly cheaper means of getting aerial footage. While quadrotors are not extremely expensive a good system can cost in the range of $3000 - $8000 and thus too costly as a research platform for many. There are a number of cheaper open source platforms. The ArduCopter is under constant development, has the largest community and is inexpensive making it an ideal platform to work with. The goal of this thesis was to implement video processing on a ground control station allowing for the ArduCopter to track moving objects. This was achieved by using the OpenCV video-processing library to implement object tracking and the MAVLink communication protocol, available on the ArduCopter platform, for communication.

Creator(s): Coelho, Gavin
Creation Date: May 2012
Partner(s):
UNT Libraries
Collection(s):
UNT Theses and Dissertations
Usage:
Total Uses: 1,142
Past 30 days: 76
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Creator (Author):
Publisher Info:
Publisher Name: University of North Texas
Publisher Info: www.unt.edu
Place of Publication: Denton, Texas
Date(s):
  • Creation: May 2012
Description:

The field of robotics and mechatronics is advancing at an ever-increasing rate and we are starting to see robots making the transition from the factories to the workplace and homes as cost is reduced and they become more useful. In recent years quadrotors have become a popular unmanned air vehicle (UAV) platform. These UAVs or micro air vehicles (MAV) are being used for many new and exciting applications such as aerial monitoring of wildlife, disaster sites, riots and protests. They are also being used in the film industry, as they are significantly cheaper means of getting aerial footage. While quadrotors are not extremely expensive a good system can cost in the range of $3000 - $8000 and thus too costly as a research platform for many. There are a number of cheaper open source platforms. The ArduCopter is under constant development, has the largest community and is inexpensive making it an ideal platform to work with. The goal of this thesis was to implement video processing on a ground control station allowing for the ArduCopter to track moving objects. This was achieved by using the OpenCV video-processing library to implement object tracking and the MAVLink communication protocol, available on the ArduCopter platform, for communication.

Degree:
Level: Master's
PublicationType: Thesi
Language(s):
Subject(s):
Keyword(s): Quadrotor | autonomous | UAV
Contributor(s):
Partner:
UNT Libraries
Collection:
UNT Theses and Dissertations
Identifier:
  • ARK: ark:/67531/metadc115056
Resource Type: Thesis or Dissertation
Format: Text
Rights:
Access: Public
Holder: Coelho, Gavin
License: Copyright
Statement: Copyright is held by the author, unless otherwise noted. All rights Reserved.