Path Planning Using Image Captured By Overhead Camera
Path planning is done by placing an initial and final position of points on a map so that it can create a path between the two points without colliding with the obstacles. To do this, map derived from a field is required. In this project, a map can be derived by using image captured by an overhead c...
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| Main Author: | |
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| Format: | Final Year Project |
| Language: | English |
| Published: |
IRC
2016
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| Subjects: | |
| Online Access: | http://utpedia.utp.edu.my/17217/1/MUHAMMAD%20AMEER_FR.pdf http://utpedia.utp.edu.my/17217/ |
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| Summary: | Path planning is done by placing an initial and final position of points on a map so that it can create a path between the two points without colliding with the obstacles. To do this, map derived from a field is required. In this project, a map can be derived by using image captured by an overhead camera. The overhead camera captures an image of a certain surface area that contains paths and obstacles. It is then being use to create a map by using a computer with Processing software. The image will then be processed so that it will be able to differentiate between path and obstacle. Next, the image is filtered according to its color, black for obstacle and white for path. A 2D imaging of the map will be drawn by the software where then a number of nodes and edges will be added to the image. An input of where the starting point and the end point will be plotted by the user. Multiple path planning algorithms will then study the map and also the points given to it so it will be able to calculate the shortest route possible from the starting point to the end point by using an Algorithm assign to it. Finally, a path will be plotted using this information. |
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