Master Degree / Yüksek Lisans Tezleri
Permanent URI for this collectionhttps://hdl.handle.net/11147/3008
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Master Thesis Row Following and Altitude Estimation With Uav Images for Agricultural Fields(01. Izmir Institute of Technology, 2023) Baştanlar, Yalın; Baştanlar, Yalın; 03.04. Department of Computer Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyTraditional methods in agriculture involve the use of tractors; however, more than 10\% of the planted fields suffer from harvest losses due to these vehicles. Moreover, tractors cannot enter all agricultural lands, thus reducing the available field for planting. After heavy rainfall, mud and other effects prevent these vehicles from accessing arable field, and processes such as crop spraying take significantly longer. In the past, aerial spraying methods using high altitude aircraft were attempted to overcome these problems; however, this method was banned in many areas due to the insufficient altitude and the harmful effects of chemical dispersion outside the fields. Nowadays, UAVs present a better alternative, and aerial spraying methods are regaining popularity. However, these vehicles can still cause errors when flying with a human operator, and their flight times are limited due to inadequate battery capacity. Therefore, the development of UAVs capable of autonomous flight reduces operator costs. However, during flight, liquid changes in the pesticide tanks hinder the UAV's ability to spray pesticides autonomously at a fixed altitude and prevent unwanted pesticide dispersion in undesirable rows. The thesis study provides following of plant rows on UAV images and making altitude estimation from camera images. In this way, it ensures that the UAVs in agricultural areas can stay at a fixed altitude for appropriate spraying and irrigation and prevents the spread of pesticides to unwanted rows.Master Thesis Real Time Texture Mapped 3d Reconstruction Using a Setup With Mirrors and Controlled Lighting(01. Izmir Institute of Technology, 2021) Gümüştekin, Şevket; Yazar, Barış; Gümüştekin, Şevket; 01. Izmir Institute of Technology; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of EngineeringThe purpose of this thesis is to create a 3D reconstruction framework that can be used in real time. This is accomplished using a parallel implementation of a shape from silhouette (SFS) algorithm. The number of silhouettes employed in reconstruction makes a major contribution to the quality at the expense of reduced speed. In order to keep this number at the minimum level without extensively sacrificing quality, a novel system is introduced. This system is based on evenly distributed viewpoints using a regular tetrahedron structure. In order to reduce cost and simplify camera calibration, we used a single camera setup with three mirrors thus creating virtual cameras for three of four viewpoints. Besides taking advantage of minimal number of viewpoints, parallel hardware is utilized to achieve real time speed. A volume based SFS algorithm is implemented using CUDA parallel computing platform.