UAV for indoor navigation using a single camera

This report presents a system that enables autonomous localization and navigation of a quadrocopter based on visual feedback from the monocular camera. The system uses the quadrocopter on-board sensors and artificial makers or tags. Since the drone does not possess the human-intelligence to differen...

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Main Author: Lau, Sin Ye
Other Authors: Wang Han
Format: Final Year Project
Language:English
Published: 2015
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Online Access:http://hdl.handle.net/10356/65787
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-657872023-07-07T16:20:02Z UAV for indoor navigation using a single camera Lau, Sin Ye Wang Han School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering This report presents a system that enables autonomous localization and navigation of a quadrocopter based on visual feedback from the monocular camera. The system uses the quadrocopter on-board sensors and artificial makers or tags. Since the drone does not possess the human-intelligence to differentiate the different types of environment it is in, one of the solutions is to use artificial markers. The drone will read the makers with the vertical camera to localize itself and navigate along a flight path in an enclosed environment. In constraint spaces there will be areas of blind spots along the flight path and possible communication delays. Therefore to tackle this problem, an Extended Kalman Filter (EKF) algorithm was implemented in the system to combine the data received from other on-board sensors such as the visual odometer and gyroscopes to compensate for the temporary loss of visual tracking and communication delays. A proportional-integral-derivate controller (or PID controller) was implemented in the system to control the drone’s position and orientation. A graphical user interface (GUI) was designed to be user friendly to display real time data received from the drone. To control an unmanned aerial vehicle (UAV) in semi-autonomous mode, a user has two available options either by the keyboard or play station remote control. To determine the responsiveness of an AR Drone manufactured by Parrot in the presence of external disturbances, a number of autonomous flight programs were designed to carry out different tests in-order to understand more and make further improvements. In different occasions, the AR Drone demonstrates it is able to rely on the inertial measurements despite the temporary loss of visual tracking and communication delays. However, the predictive model and compensating of the communication delays will cause significant effect in the accuracy of the state estimation. Bachelor of Engineering 2015-12-15T02:10:18Z 2015-12-15T02:10:18Z 2015 2015 Final Year Project (FYP) http://hdl.handle.net/10356/65787 en Nanyang Technological University 44 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering
Lau, Sin Ye
UAV for indoor navigation using a single camera
description This report presents a system that enables autonomous localization and navigation of a quadrocopter based on visual feedback from the monocular camera. The system uses the quadrocopter on-board sensors and artificial makers or tags. Since the drone does not possess the human-intelligence to differentiate the different types of environment it is in, one of the solutions is to use artificial markers. The drone will read the makers with the vertical camera to localize itself and navigate along a flight path in an enclosed environment. In constraint spaces there will be areas of blind spots along the flight path and possible communication delays. Therefore to tackle this problem, an Extended Kalman Filter (EKF) algorithm was implemented in the system to combine the data received from other on-board sensors such as the visual odometer and gyroscopes to compensate for the temporary loss of visual tracking and communication delays. A proportional-integral-derivate controller (or PID controller) was implemented in the system to control the drone’s position and orientation. A graphical user interface (GUI) was designed to be user friendly to display real time data received from the drone. To control an unmanned aerial vehicle (UAV) in semi-autonomous mode, a user has two available options either by the keyboard or play station remote control. To determine the responsiveness of an AR Drone manufactured by Parrot in the presence of external disturbances, a number of autonomous flight programs were designed to carry out different tests in-order to understand more and make further improvements. In different occasions, the AR Drone demonstrates it is able to rely on the inertial measurements despite the temporary loss of visual tracking and communication delays. However, the predictive model and compensating of the communication delays will cause significant effect in the accuracy of the state estimation.
author2 Wang Han
author_facet Wang Han
Lau, Sin Ye
format Final Year Project
author Lau, Sin Ye
author_sort Lau, Sin Ye
title UAV for indoor navigation using a single camera
title_short UAV for indoor navigation using a single camera
title_full UAV for indoor navigation using a single camera
title_fullStr UAV for indoor navigation using a single camera
title_full_unstemmed UAV for indoor navigation using a single camera
title_sort uav for indoor navigation using a single camera
publishDate 2015
url http://hdl.handle.net/10356/65787
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