Robot Navigation in Low Visibility Conditions

  • Abderrahmene Boudiaf

Student thesis: Master's Thesis

Abstract

In the last decade, space travel has seen many breakthroughs that will make it more affordable than ever which will open the doors for more space exploration missions. However, sending humans to space is still a risky task which makes space rovers the first choice for space exploration. One major challenge that space exploration rovers have to face is poor visibility conditions as well as navigating in an unknown environment where technologies like GPS are not available. To over come both of these problems the rover must have a robust vision system that can operate in poor visibility conditions like dark environments or dust storms which can also be utilized as a base for offline navigation system. This research aims to develop a system that can achieve all the requirements providing the rover with a effective vision system enabling the rover to navigate in an unknown environments and under low visibility conditions.
Date of AwardJun 2022
Original languageAmerican English

Keywords

  • Vision transformer
  • Underwater imaging
  • Image enhancement
  • obstacle avoidance
  • Conv3d
  • sequential RGB
  • Autonomous navigation.

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