To construct a 3D map of the immediate environment from a ground-based rover using depth cameras mounted on it.
A Digital Terrain Model (DTM) constructed using the sensor data from the Microsoft Kinect sensor in real time which can then be remotely accessed from any system. The Ground bot is expected to move at a speed of upto 1m/s to allow time for the Kinect to collect data and for the RPi to compute and store this data. ROS’ RTabMap package is to be used to create the model.
Raspberry Pi 4, Kinect V1, ROS
Setting up the Kinect, a Digital Terrain Model was obtained using the
same. Kinect Sensor data of a test run was compiled and the resulting map
analyzed for errors in accuracy. The updated algorithm has not yet been tested on
To find a suitable sensor array configuration that would give RGB-D data comparable to that of a Kinect sesnor while being smaller and consuming less power. The sensors enabling RGB-D perception can be mounted onto a drone, with the sensors pointed downwards, so as to cover a much larger area in a given time.
REFERENCES AND PROJECT LINKS
Mentors : -
● Karn Tiwari - 2nd Year, Electrical and Electronics Engineering
● Nidhi Achar - 2nd Year Mechanical Engineering
● Sashi Sekharan - 2nd Year Mechanical Engineering
● Shreyas - 2nd Year Electrical and Electronics Engineering
● Sumanth Bharadwaj - 2nd Year Mechanical Engineering
● Atulya Mahesh - 3rd Year, Electronics and Communication Engineering (Project Mentor)
● Rahasya Barkur - 3rd Year, Electronics and Communication Engineering (Project Mentor)