Semantic visual-inertial mapping system for tree maturity determination | |
| Author | Kandith Wongsuwan |
| Subject(s) | Mappings (Mathematics) Localization theory Image processing-Digital techniques Semantics-Data processing |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Computer Science |
| Publisher | Asian Institute of Technology |
| Abstract | We present a SLAM system, including a post-processing pipeline intended for tree matu rity monitoring applications that uses stereo cameras, an IMU, and object information as pipeline inputs. The proposed SLAM methods based on ORB-SLAM2, produces a point cloud and localizes tree landmarks which are passed through the post-processing component to estimate tree trunk perimeters. We align landmarks with the world gravity vector, making it easy to extract tree trunk point clouds from the SLAM map in place of a direct 3D geo metrical solution, which we find that would be computationally expensive. In experimental results, the SLAM system has good performance in SLAM pose estimation on the ETH3D dataset while also detecting object landmarks. In addition, the system can approximate tree perimeters, with a higher tree detection rate than a direct point cloud geometrical analysis approach. |
| Year | 2020 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Information and Communications Technologies (DICT) |
| Academic Program/FoS | Computer Science (CS) |
| Chairperson(s) | Dailey, Matthew N.; |
| Examination Committee(s) | Mongkol Ekpanyapong;Huynh Trung Luong; |
| Scholarship Donor(s) | Royal Thai Government Fellowship; |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2020 |