Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics

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dc.contributor.advisorVerrinder, Robynen_ZA
dc.contributor.advisorNicolls, Freden_ZA
dc.contributor.authorO'Regan, Katherineen_ZA
dc.date.accessioned2015-07-01T08:47:27Z
dc.date.available2015-07-01T08:47:27Z
dc.date.issued2014en_ZA
dc.descriptionIncludes bibliographical references.en_ZA
dc.description.abstractThe Microsoft Kinect sensor is a low cost RGB-D sensor. In this dissertation, its calibration is fully investigated and then these parameters are compared to the parameters given by Microsoft and OpenNI. The parameters found were found to be different to those given by Microsoft and OpenNI therefore, every Kinect should be fully calibrated. The transformation from the raw data to a point cloud is also investigated. Then, the Hough transform is presented in its 2-dimensional form. The Hough transform is a line extraction algorithm which uses a voting system. It is then compared to the Split-and-Merge algorithm using laser range _nder data. The Hough transform is found to compare well to the Split-and-Merge in 2 dimensions. Finally, the Hough transform is extended into 3-dimensions for use with the Kinect sensor. It was found that pre-processing of the Kinect data was necessary to reduce the number of points input into the Hough transform. Three edge detectors are used - the LoG, Canny and Sobel edge detectors. These were compared, and the Sobel detector was found to be the best. The _nal process was then used in multiple ways - _rst to determine its speed. Its accuracy was then investigated. It was found that the planes extracted were very inaccurate, and therefore not suitable for obstacle avoidance in mobile robotics. The suitability of the process for SLAM was also investigated. It was found to be unsuitable, as planar environments did not have distinct features which could be tracked, whilst the complex environment was not planar, and therefore the Hough transform would not work.en_ZA
dc.identifier.apacitationO'Regan, K. (2014). <i>Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering. Retrieved from http://hdl.handle.net/11427/13202en_ZA
dc.identifier.chicagocitationO'Regan, Katherine. <i>"Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2014. http://hdl.handle.net/11427/13202en_ZA
dc.identifier.citationO'Regan, K. 2014. Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics. University of Cape Town.en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - O'Regan, Katherine AB - The Microsoft Kinect sensor is a low cost RGB-D sensor. In this dissertation, its calibration is fully investigated and then these parameters are compared to the parameters given by Microsoft and OpenNI. The parameters found were found to be different to those given by Microsoft and OpenNI therefore, every Kinect should be fully calibrated. The transformation from the raw data to a point cloud is also investigated. Then, the Hough transform is presented in its 2-dimensional form. The Hough transform is a line extraction algorithm which uses a voting system. It is then compared to the Split-and-Merge algorithm using laser range _nder data. The Hough transform is found to compare well to the Split-and-Merge in 2 dimensions. Finally, the Hough transform is extended into 3-dimensions for use with the Kinect sensor. It was found that pre-processing of the Kinect data was necessary to reduce the number of points input into the Hough transform. Three edge detectors are used - the LoG, Canny and Sobel edge detectors. These were compared, and the Sobel detector was found to be the best. The _nal process was then used in multiple ways - _rst to determine its speed. Its accuracy was then investigated. It was found that the planes extracted were very inaccurate, and therefore not suitable for obstacle avoidance in mobile robotics. The suitability of the process for SLAM was also investigated. It was found to be unsuitable, as planar environments did not have distinct features which could be tracked, whilst the complex environment was not planar, and therefore the Hough transform would not work. DA - 2014 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2014 T1 - Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics TI - Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics UR - http://hdl.handle.net/11427/13202 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/13202
dc.identifier.vancouvercitationO'Regan K. Investigation into the use of the Microsoft Kinect and the Hough transform for mobile robotics. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2014 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/13202en_ZA
dc.language.isoengen_ZA
dc.publisher.departmentDepartment of Electrical Engineeringen_ZA
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subject.otherElectrical Engineeringen_ZA
dc.titleInvestigation into the use of the Microsoft Kinect and the Hough transform for mobile roboticsen_ZA
dc.typeMaster Thesis
dc.type.qualificationlevelMasters
dc.type.qualificationnameMScen_ZA
uct.type.filetypeText
uct.type.filetypeImage
uct.type.publicationResearchen_ZA
uct.type.resourceThesisen_ZA
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