UAV back-track in GPS unreliable environment

• Main Author: Li, Zhaonan
• Other Authors: Wang Dan Wei
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2020
• Subjects: Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision; Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/143414
• Institution: Nanyang Technological University

Unmanned aerial vehicle (UAV) is thriving in recent years. Sensors equipped on a UAV enhance its versatility of aiding human’s work instead of just flying. Function like pathing following and back-tracking is in demand for monitoring and transportation. In this thesis, we propose a pipeline of a monocular back-tracking system based on computer vision, which deftly combines classic pose estimation algorithms with optimization methods to locate UAV itself and provide a navigation target with a 6-dimension pose. This system is proved to have stable performance in a static scenario.