Entryway detection algorithm using Kinect's depth camera for UAV application

Husna Izzati Osman, Fazida Hanim Hashim, Wan Mimi Diyana Wan Zaki, Aqilah Baseri Huddin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Small unmanned aerial vehicles (UAVs) are gaining popularity in aiding search and rescue teams in the wake of a disaster. When searching through ruins such as a collapsed building or a building under fire, it is almost impossible for the first rescue team to navigate inside the ruins in search for survivors. Small UAVs such as the quadcopter which is equipped with autonomous capabilities has the potential to navigate through the unknown ruins. One of the basic building blocks for any autonomous vehicle is a fast-detection sensor for detection and avoidance of obstacles. Payload and cost should also be considered when choosing the right sensor. In this study, a feature extraction algorithm using Microsoft Kinect depth camera is presented for application on a quadcopter operating in an indoor environment. The main objective of this project is to develop an algorithm that could detect entryway openings, based on the inputs from a Microsoft Kinect camera that will be mounted on a quadcopter. The algorithm is tested in a T-junction corridor of an office building, with objects such as walls, doors, glass, corridors, and fire extinguisher boxes occupying the space. The algorithm successfully detects all objects by using the depth information of each pixel in relative to other pixels. The ratio of each depth area is calculated to differentiate the entryway from the rest of the objects. The analysis reveals that the accepted ratio for entryway detection is 0.701 with +-5% error while values not within this range are considered as obstacles.

Original languageEnglish
Title of host publication2017 IEEE 8th Control and System Graduate Research Colloquium, ICSGRC 2017 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages77-80
Number of pages4
ISBN (Electronic)9781538603802
DOIs
Publication statusPublished - 17 Oct 2017
Event8th IEEE Control and System Graduate Research Colloquium, ICSGRC 2017 - Shah Alam, Malaysia
Duration: 4 Aug 20175 Aug 2017

Other

Other8th IEEE Control and System Graduate Research Colloquium, ICSGRC 2017
CountryMalaysia
CityShah Alam
Period4/8/175/8/17

Fingerprint

fire extinguishers
pilotless aircraft
Unmanned aerial vehicles (UAV)
Camera
Cameras
cameras
corridors
Fire extinguishers
Pixel
Pixels
pixels
Sensor
Office buildings
Autonomous Vehicles
avoidance
disasters
sensors
Sensors
Wake
Disaster

Keywords

  • Depth camera
  • Entryway detection
  • Microsoft Kinect camera
  • UAV

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Control and Optimization
  • Instrumentation

Cite this

Osman, H. I., Hashim, F. H., Wan Zaki, W. M. D., & Huddin, A. B. (2017). Entryway detection algorithm using Kinect's depth camera for UAV application. In 2017 IEEE 8th Control and System Graduate Research Colloquium, ICSGRC 2017 - Proceedings (pp. 77-80). [8070572] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSGRC.2017.8070572

Entryway detection algorithm using Kinect's depth camera for UAV application. / Osman, Husna Izzati; Hashim, Fazida Hanim; Wan Zaki, Wan Mimi Diyana; Huddin, Aqilah Baseri.

2017 IEEE 8th Control and System Graduate Research Colloquium, ICSGRC 2017 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. p. 77-80 8070572.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Osman, HI, Hashim, FH, Wan Zaki, WMD & Huddin, AB 2017, Entryway detection algorithm using Kinect's depth camera for UAV application. in 2017 IEEE 8th Control and System Graduate Research Colloquium, ICSGRC 2017 - Proceedings., 8070572, Institute of Electrical and Electronics Engineers Inc., pp. 77-80, 8th IEEE Control and System Graduate Research Colloquium, ICSGRC 2017, Shah Alam, Malaysia, 4/8/17. https://doi.org/10.1109/ICSGRC.2017.8070572
Osman HI, Hashim FH, Wan Zaki WMD, Huddin AB. Entryway detection algorithm using Kinect's depth camera for UAV application. In 2017 IEEE 8th Control and System Graduate Research Colloquium, ICSGRC 2017 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. p. 77-80. 8070572 https://doi.org/10.1109/ICSGRC.2017.8070572
Osman, Husna Izzati ; Hashim, Fazida Hanim ; Wan Zaki, Wan Mimi Diyana ; Huddin, Aqilah Baseri. / Entryway detection algorithm using Kinect's depth camera for UAV application. 2017 IEEE 8th Control and System Graduate Research Colloquium, ICSGRC 2017 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 77-80
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