AiNavUT: an intelligent navigation system for unmanned tractor in airport
With the growth in the number of airplanes at the airport, airport dispatch pressure will increase correspondingly. Airplane collisions frequently occur due to untimely communications and possible maloperations. To address this problem, AiNavUT, an intelligent navigation system for unmanned trac...
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| Other Authors: | |
| Format: | Thesis-Master by Coursework |
| Language: | English |
| Published: |
Nanyang Technological University
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/164464 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | With the growth in the number of airplanes at the airport, airport dispatch pressure
will increase correspondingly. Airplane collisions frequently occur due to
untimely communications and possible maloperations. To address this problem,
AiNavUT, an intelligent navigation system for unmanned tractor has been proposed,
where only a depth sensor is leveraged to perceive the environment and derive a low-price but robust autonomous navigation solution. AiNavUT consists of three main modules. Object
detection: a multi-object detection and tracking is introduced to recognize the object.
Localization: two methods based on poincloud clustering and
monocular ranging are proposed to estimate depth in large baseline scenes. To improve
the performance of monocular ranging, a semantic segmentation network is introduced.
Navigation: based on the localization results, the costmap will be generated for the subsequent navigation. |
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