Autonomous unmanned aerial vehicle (UAV) with computer-vision capabilities in a hazy environment
This project aims to develop an autonomous UAV that is capable of performing higher-level visual task such as classification in real time in a hazy environment. Image haze removal is a challenging ill-posed problem and is a crucial image pre-processing step for the common Computer Vision (CV) tasks....
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| Format: | Final Year Project |
| Language: | English |
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Nanyang Technological University
2023
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| Online Access: | https://hdl.handle.net/10356/167314 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This project aims to develop an autonomous UAV that is capable of performing higher-level visual task such as classification in real time in a hazy environment. Image haze removal is a challenging ill-posed problem and is a crucial image pre-processing step for the common Computer Vision (CV) tasks. Many approaches exist to remove noises caused by haze from the perspective of ground vehicles. However, there is limited research conducted on removing haze from the perspective of a UAV. This report presents the performance evaluations for seven existing dehazing approaches, based on either Convolutional Neural Networks (CNNs) or Vision Transformers (ViTs). These methods are evaluated using two existing datasets which serves as our benchmark, the AeroScapes and the UAVid, in which the hazy images are artificially generated via an established atmospheric model. This report also explored and evaluated the viability of using knowledge distillation on an existing dehazing model. The real time implementation of a dehazing procedure from a UAV is also documented. |
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