東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

Visual Inertial Odometry for Autonom...

Xu, Yan.

FindBook

Google Book

Amazon

博客來

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

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Visual Inertial Odometry for Autonomous Unmanned Aerial Vehicle Using a Thermal Camera./
作者:	Xu, Yan.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2018,
面頁冊數:	87 p.
附註:	Source: Dissertations Abstracts International, Volume: 80-09, Section: C.
Contained By:	Dissertations Abstracts International80-09C.
標題:	Electrical engineering. -
電子資源:	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.
LDR:01978nmm a2200301 4500 001 2207881
005 20190923114247.5
008 201008s2018 ||||||||||||||||| ||eng d
020 $a 9781083204011
035 $a (MiAaPQ)AAI13855526
035 $a (MiAaPQ)USingapore148572
035 $a AAI13855526
040 $a MiAaPQ $c MiAaPQ
100 1 $a Xu, Yan. $3 1266985
245 1 0 $a Visual Inertial Odometry for Autonomous Unmanned Aerial Vehicle Using a Thermal Camera.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2018
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.
590 $a School code: 1883.
650 4 $a Electrical engineering. $3 649834
690 $a 0544
710 2 $a National University of Singapore (Singapore). $3 3352228
773 0 $t Dissertations Abstracts International $g 80-09C.
790 $a 1883
791 $a Ph.D.
792 $a 2018
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=13855526