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3D virtual model construction and visualization for an agriculture field inspection robot

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dc.contributor.advisor Dailey, Matthew N. (Chairperson) en_US
dc.contributor.author Atima Tharatipyakul en_US
dc.contributor.other Janecek, Paul (Member) en_US
dc.contributor.other Mongkol Ekpanyapong (Member) en_US
dc.date.accessioned 2015-01-12T10:41:29Z
dc.date.available 2015-01-12T10:41:29Z
dc.date.issued 2011-05 en_US
dc.identifier.other AIT Thesis no.CS-11-11 en_US
dc.identifier.uri http://www.cs.ait.ac.th/xmlui/handle/123456789/391
dc.description Submitted in partial ful llment of the requirements for the degree of Master of Engineering in Computer Science. en_US
dc.description.abstract Agricultural farm inspection is essential to maintain good crop quality. Using a robot equipped with a monocular webcam for observation could reduce time and e orts of a farmer. This thesis is a continuous research to extract fruit information from a video data. Existing 3D modeling application in AIT is analyzed to x problems and improve accuracy of reconstructed pineapple models. Improvement in reconstruction consists of symmetric feature matching, 2D-3D point matching using multiple frames, key frame selection with used of fruit region constraint, and camera motion recovery in present of outliers. Modeling is constrained by ratio of radii for more accurate fruit models. Moreover, this thesis adds visualization which enables users to manipulate a scene of pineapple models. Experimental results demonstrate decrease in error rate in reconstruction pipeline. The system now automatically generates parts of the farm from an image sequence. en_US
dc.description.sponsorship Royal Thai Government Fellowship en_US
dc.language.iso eng en_US
dc.publisher Asian Institute of Technology en_US
dc.subject 3D Reconstruction en_US
dc.subject Structure and Motion Recovery en_US
dc.subject Visualization en_US
dc.subject Agriculture en_US
dc.subject Pineapple en_US
dc.subject Robotics en_US
dc.subject.lcsh Others en_US
dc.title 3D virtual model construction and visualization for an agriculture field inspection robot en_US
dc.type Thesis en_US
dc.rights.holder Copyright (C) 2011 by Asian Institute of Technology. en_US


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