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...
Saved in:
Main Author: | |
---|---|
Other Authors: | |
Format: | Final Year Project |
Language: | English |
Published: |
Nanyang Technological University
2024
|
Subjects: | |
Online Access: | https://hdl.handle.net/10356/176524 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Institution: | Nanyang Technological University |
Language: | English |
id |
sg-ntu-dr.10356-176524 |
---|---|
record_format |
dspace |
spelling |
sg-ntu-dr.10356-1765242024-05-18T16:53:19Z Visual localization and mapping for indoor drone navigation Goh, Jia Wern Mir Feroskhan School of Mechanical and Aerospace Engineering mir.feroskhan@ntu.edu.sg Engineering Drones Localization and mapping Autonomous 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 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. Bachelor's degree 2024-05-16T07:44:20Z 2024-05-16T07:44:20Z 2024 Final Year Project (FYP) Goh, J. W. (2024). Visual localization and mapping for indoor drone navigation. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/176524 https://hdl.handle.net/10356/176524 en C052 application/pdf Nanyang Technological University |
institution |
Nanyang Technological University |
building |
NTU Library |
continent |
Asia |
country |
Singapore Singapore |
content_provider |
NTU Library |
collection |
DR-NTU |
language |
English |
topic |
Engineering Drones Localization and mapping Autonomous navigation |
spellingShingle |
Engineering Drones Localization and mapping Autonomous navigation Goh, Jia Wern Visual localization and mapping for indoor drone navigation |
description |
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. |
author2 |
Mir Feroskhan |
author_facet |
Mir Feroskhan Goh, Jia Wern |
format |
Final Year Project |
author |
Goh, Jia Wern |
author_sort |
Goh, Jia Wern |
title |
Visual localization and mapping for indoor drone navigation |
title_short |
Visual localization and mapping for indoor drone navigation |
title_full |
Visual localization and mapping for indoor drone navigation |
title_fullStr |
Visual localization and mapping for indoor drone navigation |
title_full_unstemmed |
Visual localization and mapping for indoor drone navigation |
title_sort |
visual localization and mapping for indoor drone navigation |
publisher |
Nanyang Technological University |
publishDate |
2024 |
url |
https://hdl.handle.net/10356/176524 |
_version_ |
1800916347540996096 |