Visual-inertial-GPS fusion for robust UAV navigation
Unmanned aerial vehicles (UAV) have been widely used in a variety of applications, from the military, where they assist with search and rescue [1], and reconnaissance operations, to industrial applications which help to ease the inspection and maintenance processes. Along with the rise of UAVs, r...
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| Format: | Final Year Project |
| Language: | English |
| Published: |
Nanyang Technological University
2023
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| Online Access: | https://hdl.handle.net/10356/167482 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Unmanned aerial vehicles (UAV) have been widely used in a variety of applications,
from the military, where they assist with search and rescue [1], and reconnaissance
operations, to industrial applications which help to ease the inspection and
maintenance processes. Along with the rise of UAVs, research on outdoor and indoor
navigation techniques is gaining popularity. Currently, navigation systems are
optimized for a specific environment over the other, equipping these UAVs with the
ability to seamlessly transition between indoor and outdoor environments can make
them significantly more versatile and useful in a wide variety of operations [2]. This
can be achieved through a tightly coupled system that consists of a camera and
inertial measurement unit (IMU) for visual-inertial odometry, the Global Navigation
Satellite System (GNSS) for outdoor positioning, a WiFi indoor positioning system,
and lastly an indoor-outdoor scene classification model. |
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