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Visual Inertial Odometry for Autonom...

Xu, Yan.

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Visual Inertial Odometry for Autonomous Unmanned Aerial Vehicle Using a Thermal Camera.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Visual Inertial Odometry for Autonomous Unmanned Aerial Vehicle Using a Thermal Camera./
Author:	Xu, Yan.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2018,
Description:	87 p.
Notes:	Source: Dissertations Abstracts International, Volume: 80-09, Section: C.
Contained By:	Dissertations Abstracts International80-09C.
Subject:	Electrical engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=13855526
ISBN:	9781083204011

Visual Inertial Odometry for Autonomous Unmanned Aerial Vehicle Using a Thermal Camera.
Xu, Yan.

Visual Inertial Odometry for Autonomous Unmanned Aerial Vehicle Using a Thermal Camera. - Ann Arbor : ProQuest Dissertations & Theses, 2018 - 87 p.

Source: Dissertations Abstracts International, Volume: 80-09, Section: C.

Thesis (Ph.D.)--National University of Singapore (Singapore), 2018.

This item must not be sold to any third party vendors.

This thesis has proposed a real-time and robust visual inertial navigation system for UAVs using a single thermal camera, and flying at a higher altitude under a low light or dark condition. The algorithm takes relative height measurements from a single laser beam to decompose the unscaled homography matrix of the most dominant feature plane to solve the scale ambiguity from monocular VO. When there appears to be a few dominant planes, a specially designed multi-plane homography decomposition technique is used to handle this issue by trying different measurements through a sophisticated logic flow. The VO results are then fed into an EKF-based sensor fusion framework, fusing the measurements from multiple sensors to get the improved localization results. The algorithm has been intensively tested in both simulation and flight experiments, and the results are accurate compared with the given ground truth and GPS measurements.

ISBN: 9781083204011Subjects--Topical Terms:

649834
Electrical engineering.

Visual Inertial Odometry for Autonomous Unmanned Aerial Vehicle Using a Thermal Camera.
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245 1 0 $a Visual Inertial Odometry for Autonomous Unmanned Aerial Vehicle Using a Thermal Camera.
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300 $a 87 p.
500 $a Source: Dissertations Abstracts International, Volume: 80-09, Section: C.
500 $a Publisher info.: Dissertation/Thesis.
502 $a Thesis (Ph.D.)--National University of Singapore (Singapore), 2018.
506 $a This item must not be sold to any third party vendors.
520 $a This thesis has proposed a real-time and robust visual inertial navigation system for UAVs using a single thermal camera, and flying at a higher altitude under a low light or dark condition. The algorithm takes relative height measurements from a single laser beam to decompose the unscaled homography matrix of the most dominant feature plane to solve the scale ambiguity from monocular VO. When there appears to be a few dominant planes, a specially designed multi-plane homography decomposition technique is used to handle this issue by trying different measurements through a sophisticated logic flow. The VO results are then fed into an EKF-based sensor fusion framework, fusing the measurements from multiple sensors to get the improved localization results. The algorithm has been intensively tested in both simulation and flight experiments, and the results are accurate compared with the given ground truth and GPS measurements.
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