Sharif Digital Repository

Quadrotors are one of the most popular unmanned aerial vehicle (UAVs) that has been subject of extensive research in recent years. One of the most important applications of these aerial vehicles is transporting a cable-suspended payload from one point to another. The major challenge in modeling of this system is dynamic coupling which exist between all components of the system i.e. payload, cable and quadrotor. The purpose of this research is mathematical modeling and dynamic analysis of the system in presence of this dynamic coupling and considering the effects of cable's flexibility. In this regard, it is assumed that the payload has variable mass. In this thesis, in the first step, by... 

Today with the availability of cheap depth sensor, processing point clouds produced by these sensors and extracting geometric features is an active field of computer vision. Object recognition is a basic computer vision issues that even with considerable research has remained as a challenge. In these thesis we have studied methods of utilizing depth images and geometric information of point clouds in order to extract geometric features from point clouds and have introduces a set of new geometric features using Normal Orientation Histogram. Also a novel and efficient method for segmentation of point cloud of indoor scenes is proposed. Experimental results depict that our proposed methods have... 

Learning of shape classes from a set of given data is of special practical importance in computer vision. Large variations in the surrounding objects makes the problem of shape learning a very di°cult one. These di°culties may vary according to diferences in pose and part articulations of shapes. Despite all of the problems, large applications of this problem in areas such as tracking, object recognition and text recognition inspires many groups to work on it. In this thesis we aim to investigate a solution for this problem