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Thesis
Rapid structure from motion (SFM) based 3-D modeling framework using a team of autonomous small unmanned aerial systems (sUAS)
University of West Florida Libraries
Master of Science (MS), University of West Florida
2021
Abstract
This research effort develops a framework capable of cross-platform integration to develop a Structure from Motion 3-D model using a team of autonomous small Unmanned Aerial Systems (sUAS). In the development of this framework, a simulation environment with a house is used as an example of a simulated mission. The framework is composed of two major goals to accomplish this. The 3-D reconstruction software is evaluated with two separate datasets for optimization with the intent to reduce the computational time required to build a model that is usable. One dataset is a lab controlled environment for initial observations and the other dataset is of a real world environment for applicability to hardware implementation. The priority is usability of the model and speed in reconstruction. During this evaluation, four parameters are manipulated in software for evaluation quality, image number, camera angle, and multi-view formation. An optimum set of parameters is suggested for the framework to work successfully. The Distributed Behavior Model is based on the entropy of the system where distance between the sUAS is the variable used. As the distance between each sUAS decreases, the entropy of the system also decreases. An investigation into the Distributed Model Behaviour is conducted with the intent to have a robust and scalable algorithm capable of navigating the sUAS to the desired objective. Parameters used for evaluation are (i) minimum distance between sUAS and (ii) entropy threshold. Simulations are run with 3, 5, 7, 9, 15 and 20 sUAS to confirm scalability, robustness, and threshold values. A minimum distance setting is confirmed, and a function for scaling the threshold value is determined. Finally, these two portions are combined in simulation to demonstrate the framework operability and evaluate the completeness and speed of the reconstructed model. The simulations show that the framework operates and is capable of generating complete models as desired autonomously.
Details
- Title
- Rapid structure from motion (SFM) based 3-D modeling framework using a team of autonomous small unmanned aerial systems (sUAS)
- Resource Type
- Thesis
- Contributors
- Hakki Erhan Sevil (Committee Chair) - University of West Florida, Intelligent Systems and RoboticsThomas C Gilbar (Committee Member) - University of West Florida, Hal Marcus College of Science and EngineeringJeffrey S McGuirk (Committee Member) - University of West Florida, Hal Marcus College of Science and Engineering
- Publisher
- University of West Florida Libraries; [Pensacola, Florida] :
- Format
- pdf
- Number of pages
- viii, 55
- Copyright
- Permission granted to the University of West Florida Libraries by the author to digitize and/or display this information for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires the permission of the copyright holder.
- Identifiers
- 99380090851106600
- Academic Unit
- Dr. Muhammad Harunur Rashid Department of Electrical and Computer Engineering
- Language
- English
- Awarding Institution
- University of West Florida; Master of Science (MS)
- Theses and Dissertations
- Master of Science (MS), University of West Florida