Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation

Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation

The primary objective of this dissertation is to propose a robust vision-based multi-sensor fusion navigation system for lightweight unmanned aerial vehicles to navigate and perform complex tasks in a challenging environment. In recent years, the demand for autonomous drones has grown exponentially....

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Main Author: Yuan, Shenghai
Other Authors: Wang Han
Format: Theses and Dissertations
Language:English
Published: 2019
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/10356/85185
http://hdl.handle.net/10220/50276
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Institution: Nanyang Technological University
Language: English
id sg-ntu-dr.10356-85185
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spelling sg-ntu-dr.10356-851852023-07-04T17:19:50Z Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation Yuan, Shenghai Wang Han School of Electrical and Electronic Engineering Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics The primary objective of this dissertation is to propose a robust vision-based multi-sensor fusion navigation system for lightweight unmanned aerial vehicles to navigate and perform complex tasks in a challenging environment. In recent years, the demand for autonomous drones has grown exponentially. Such applications can be the day to day routine goods delivery or inspection work in an area that humans can't reach. The proposed navigation system can run in real-time, low cost and with a high level of robustness. The proposed methods use the camera as the primary sensor to both odometry and mapping. Then the multi-sensor fusion is done to enhance the odometry reliability of the UAV system. Doctor of Philosophy 2019-10-29T08:08:15Z 2019-12-06T15:58:59Z 2019-10-29T08:08:15Z 2019-12-06T15:58:59Z 2019 Thesis Yuan, S. (2019). Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/85185 http://hdl.handle.net/10220/50276 10.32657/10356/85185 en 296 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 Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision
Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision
Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Yuan, Shenghai
Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation
description The primary objective of this dissertation is to propose a robust vision-based multi-sensor fusion navigation system for lightweight unmanned aerial vehicles to navigate and perform complex tasks in a challenging environment. In recent years, the demand for autonomous drones has grown exponentially. Such applications can be the day to day routine goods delivery or inspection work in an area that humans can't reach. The proposed navigation system can run in real-time, low cost and with a high level of robustness. The proposed methods use the camera as the primary sensor to both odometry and mapping. Then the multi-sensor fusion is done to enhance the odometry reliability of the UAV system.
author2 Wang Han
author_facet Wang Han
Yuan, Shenghai
format Theses and Dissertations
author Yuan, Shenghai
author_sort Yuan, Shenghai
title Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation
title_short Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation
title_full Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation
title_fullStr Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation
title_full_unstemmed Vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation
title_sort vision-based multi-sensor fusion for robust unmanned aerial vehicles autonomous navigation
publishDate 2019
url https://hdl.handle.net/10356/85185
http://hdl.handle.net/10220/50276
_version_ 1772827936941932544

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