Visual localization and mapping for indoor drone navigation

This paper evaluates the feasibility of developing Visual Localization and Mapping capabilities for Indoor Drone Navigation. The software set-up includes implementing Visual SLAM algorithms which are ORB-SLAM 2 and VINS-Fusion as well as simulation of three state-of-the-art Path Planning algorithms...

全面介紹

Saved in:
書目詳細資料
主要作者: Goh, Jia Wern
其他作者: Mir Feroskhan
格式: Final Year Project
語言:English
出版: Nanyang Technological University 2024
主題:
在線閱讀:https://hdl.handle.net/10356/176524
標簽: 添加標簽
沒有標簽, 成為第一個標記此記錄!
機構: Nanyang Technological University
語言: English
實物特徵
總結:This paper evaluates the feasibility of developing Visual Localization and Mapping capabilities for Indoor Drone Navigation. The software set-up includes implementing Visual SLAM algorithms which are ORB-SLAM 2 and VINS-Fusion as well as simulation of three state-of-the-art Path Planning algorithms which are Kinodynamic Path Planner, Topological Path Planner and EGO-Planner. Quantitative and comprehensive comparison will be conducted and the most suitable Visual SLAM algorithm and Path Planning algorithm will be selected for physical implementation on the PX4 Vision Autonomy Development Kit Drone. Subsequently, the drone will utilize these algorithms to build a map of the surrounding environment in real time.