• A Deep Learning-Based 3D Vision Pipeline for Shape Completion of 3D Objects 

      Kongsgård, Sondre Bø (Master thesis, 2019)
      Enkelt-vis formfullføring omhandler problemet hvor målet er å estimere den komplette geometrien fra delvise observasjoner av objekter, noe som er essensielt i mange applikasjoner innen datasyn og robotikk. Denne oppgaven ...
    • A stereo image dataset of a fish model in a fresh water tank, and using it to compare stereo-matching algorithms 

      Westlie, Storm (Master thesis, 2019)
      En oversikt over ulike metoder som kan bli brukt til å lage et “riktig” disparity-kart har blitt laget, der fokuset lå på deres nøyaktighet og generelle krav for at metoden skal være gyldig. Videre har det blitt laget en ...
    • Advancing Ocean Observation with an AI-driven Mobile Robotic Explorer 

      Saad, Aya; Stahl, Annette; Våge, Andreas; Davies, Emlyn John; Nordam, Tor; Aberle-Malzahn, Nicole; Ludvigsen, Martin; Johnsen, Geir; Sousa, João; Rajan, Kanna (Journal article; Peer reviewed, 2020)
      Rapid assessment and enhanced knowledge of plankton communities and their structure in the productive upper water column is of crucial importance to understand the impact of the changing climate on upper ocean processes. ...
    • Autonomous Navigation, Mapping, and Exploration for Underwater Robots 

      Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)
      Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...
    • Autonomous Navigation, Mapping, and Exploration for Underwater Robots 

      Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)
      Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...
    • Autonomous Navigation, Mapping, and Exploration for Underwater Robots 

      Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)
      Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...
    • Biometric recognition and individual tracking of salmon in large-scale sea cages 

      Hammerset, Ivar (Master thesis, 2018)
      In this project a method for tracking and biometric identification of salmon in large scale sea cages using machine vision cameras and techniques has been developed. This has been done by finding unique point patterns in ...
    • Camera-assisted AUV navigation in fish cages 

      Strand, Eirik (Master thesis, 2017)
      The usage of Remotely Operated Vehicles (ROVs) for inspection of marine structures such as fish nets is today an essential part of the growing offshore industry. In fish farms, the ROV operator has to spend most of the ...
    • Classification of Corrosion and Coating Damages on Bridge Constructions using Deep Learning 

      Holm, Egil (Master thesis, 2019)
      Denne masteroppgaven presenterer en sammenligning av ytelse for forskjellige nevrale nettverk på bildeklassifisering av korrosjon og beleggskader på brukonstruksjoner. Totalt 9300 bilder, delt inn i fire klasser; ...
    • Classification of fish body parts in an underwater environment 

      Sømod, Thorbjørn (Master thesis, 2017)
      This master thesis is the result of work conducted over the course of a semester with the goal of invstigating a possible approach to recognizing fish parts in a video stream from a camera system situated in an underwater ...
    • Computer Vision Based Pose Estimation for Auto Docking System 

      Bjørnsen, Tord Sjeggestad (Master thesis, 2019)
      Denne masteroppgaven presenterer utviklingen av et komplett, datasynbasert, posisjons- og orienteringsestimeringssystem. Systemet er utviklet spesielt for bruk på små ferger som går over fjorder og innsjøer. Systemet kan ...
    • Continuous Signed Distance Functions for 3D Vision 

      Haugo, Simen; Stahl, Annette; Brekke, Edmund (2017 International Conference on 3D Vision (3DV 2017);, Journal article, 2017)
      We explore the use of continuous signed distance functions as an object representation for 3D vision. Popularized in procedural computer graphics, this representation defines 3D objects as geometric primitives combined ...
    • Convolutional Autoencoder aided loop closure detection for monocular SLAM 

      Leonardi, Marco; Stahl, Annette (Chapter, 2018)
      A correct loop closure detection is an important component of a robust SLAM (simultaneous localization and mapping) system. Loop closing refers to the process of correctly asserting that a mobile robot has returned to a ...
    • Determining spatial feed distribution in sea cage aquaculture using an aerial camera platform 

      Lien, Andreas Myskja; Schellewald, Christian; Stahl, Annette; Frank, Kevin; Skøien, Kristoffer Rist; Tjølsen, Jan Inge (Journal article; Peer reviewed, 2019)
      Within this paper we describe an unmanned aerial vehicle (UAV) based method to estimate the spatial feed pellet distribution in salmon fish-cages and exploit it within a case study to determine the radial pellet distribution ...
    • Developing a mapping system for an autonomous Formula Student racecar 

      Gustavsen, Lars (Master thesis, 2018)
      This thesis describes the development of a perception system for an autonomous racecar on behalf of the Driverless team at Revolve NTNU. My contribution has an extra focus on the issue of localization and mapping. The ...
    • Estimation of Structural Geometry: Sensors and Software to Generate Real-time Maps of Structural Geometry in Fish Farms 

      Nybø, Gaute (Master thesis, 2019)
      Denne oppgaven er en del av et forskningsprosjekt kalt Artifex, på SINTEF Ocean AS. Prosjektet tar sikte på å utvikle et generelt system som brukes til fjernoperasjoner på fiskeanlegg for å redusere behovet for tilstedeværende ...
    • Experimental study of installation procedure and volume estimation of tarpaulin for chemical treatment of fish in floating cages 

      Volent, Zsolt; Birkevold, Jens; Stahl, Annette; Lien, Andreas Myskja; Sunde, Leif Magne; Lader, Pål Furset (Journal article; Peer reviewed, 2017)
      In the salmon industry chemical delousing is done by enclosing the cage in a tarpaulin, and then mixing the chemical agent in the enclosed water volume. Correct dosage is important to obtain the wanted effect, and in order ...
    • Fusing Shape and Color for High-Speed Visual Tracking 

      Jensen, Martin Schei (Master thesis, 2017)
      In a computer vision system, one must often assume that the system will encounter objects it has never seen before. A component that is able to track such objects is therefore an integral part of a complete computer vision ...
    • Iterative Closest Point with Minimal Free Space Constraints 

      Haugo, Simen; Stahl, Annette (Chapter; Peer reviewed, 2020)
      The Iterative Closest Point (ICP) method is widely used for fitting geometric models to sensor data. By formulating the problem as a minimization of distances evaluated at observed surface points, the method is computationally ...
    • Kamerabasert Posisjoneringssystem for Fly og Helikopter 

      Birkeland, Peder Hogstad (Master thesis, 2019)
      Denne masteroppgaven tar for seg arbeidet med a utvikle og teste et kamerabasert sensorsystem ˚ for posisjonering av fly og helikoptre i samarbeid med Forsvarets Forskningsinstitutt (FFI). Systemet som er utviklet bestar ...