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called the Autonomous Modular Optical Underwater Robot (amour). Autonomous Dynamic Object Tracking Using GPS Feedback MIT Distributed Robotics Lab Summer 2011 In this video we present an autonomous on-board visual navigation and tracking system for an Ascending Technologies Pelican quadrotor vehicle to support the whale tracking application utilizing the on-board GPS receiver. The iCreate was programmed to follow a specific trajectory at a constant.025 m/s and was also tracked by the motion capture e quadrotor flew at a desired altitude.35 m for each trial. Preparation OF graduate theses, information for preparing a thesis, joint theses. Wil Selby, peter Corke, daniela Rus, mIT Distributed Robotics Lab. Observing whales is important for many marine biology tasks and is currently done manually from the shore or on boats. Using the threshold values selected by the user, the two-dimensional histogram. Our image segmentation and target identification algorithms were developed with the specific task of monitoring whales at sea but can easily be adapted for other targets. The computer vision system output error estimates at 10 Hz, the motion capture system provided pose estimates at 110 Hz, and the controller computed commands at.
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The average rmse was approximately.068 m in the x axis and.095 m in the y axis. Before the final written document is submitted, a draft may be required for editorial comment. A thesis may not be presented on research work done at the Institute while on academic, administrative, research staff appointment, or hourly payroll at MIT (including Lincoln Laboratory the Charles Stark Draper Laboratory, or other affiliated research entities. Additionally, the Pelican was used to achieve tracking target speeds of up.25 m/s. Within the, structural Mechanics and Design track of the MEng degree program, students pursue curriculum and research in areas including structural engineering mechanics, computational design and optimization, and collaborative workflows at the interface of engineering and architecture. MIT Distributed Robotics Lab, spring 2011, in this video we present an autonomous on-board visual navigation and tracking system for an Ascending Technologies. Our goal robot system differs from existing systems that use additional sensors such as GPS or laser scanners or perform off-board processing of the video stream. Nonresident doctoral thesis research status, details and expectations for non-residential doctoral students. The on-board Autopilot software computed the individual motor commands.
The target for these experiments was a red wagon that was initially static, but was then manually maneuvered by a human. Currently, whales are observed manually using binoculars and cameras from the shore or from boats, and notes are made using pencil and paper. Human-operated planes and helicopters are also used, but the data gathered this way is limited.