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COLLISION FREE NAVIGATION IN 3D UNSTRUCTURED ENVIRONMENTS USING VISUAL LOOMING

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Date Issued:
2023
Abstract/Description:
Vision is a critical sense for many species, with the perception of motion being a fundamental aspect. This aspect often provides richer information than static images for understanding the environment. Motion recognition is a relatively simple computation compared to shape recognition. Many creatures can discriminate moving objects quite well while having virtually no capacity for recognizing stationary objects. Traditional methods for collision-free navigation require the reconstruction of a 3D model of the environment before planning an action. These methods face numerous limitations as they are computationally expensive and struggle to scale in unstructured and dynamic environments with a multitude of moving objects. This thesis proposes a more scalable and efficient alternative approach without 3D reconstruction. We focus on visual motion cues, specifically ’visual looming’, the relative expansion of objects on an image sensor. This concept allows for the perception of collision threats and facilitates collision-free navigation in any environment, structured or unstructured, regardless of the vehicle’s movement or the number of moving objects present.
Title: COLLISION FREE NAVIGATION IN 3D UNSTRUCTURED ENVIRONMENTS USING VISUAL LOOMING.
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Name(s): Yepes, Juan David Arango, author
Raviv, Daniel , Thesis advisor
Florida Atlantic University, Degree grantor
Department of Computer and Electrical Engineering and Computer Science
College of Engineering and Computer Science
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Date Created: 2023
Date Issued: 2023
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 155 p.
Language(s): English
Abstract/Description: Vision is a critical sense for many species, with the perception of motion being a fundamental aspect. This aspect often provides richer information than static images for understanding the environment. Motion recognition is a relatively simple computation compared to shape recognition. Many creatures can discriminate moving objects quite well while having virtually no capacity for recognizing stationary objects. Traditional methods for collision-free navigation require the reconstruction of a 3D model of the environment before planning an action. These methods face numerous limitations as they are computationally expensive and struggle to scale in unstructured and dynamic environments with a multitude of moving objects. This thesis proposes a more scalable and efficient alternative approach without 3D reconstruction. We focus on visual motion cues, specifically ’visual looming’, the relative expansion of objects on an image sensor. This concept allows for the perception of collision threats and facilitates collision-free navigation in any environment, structured or unstructured, regardless of the vehicle’s movement or the number of moving objects present.
Identifier: FA00014239 (IID)
Degree granted: Dissertation (PhD)--Florida Atlantic University, 2023.
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): Includes bibliography.
Subject(s): Motion perception (Vision)
Collision avoidance systems
Visual perception
Persistent Link to This Record: http://purl.flvc.org/fau/fd/FA00014239
Use and Reproduction: Copyright © is held by the author with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Host Institution: FAU