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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| التنسيق: | Theses and Dissertations |
| اللغة: | English |
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2019
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| الوصول للمادة أونلاين: | https://hdl.handle.net/10356/85185 http://hdl.handle.net/10220/50276 |
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| المؤسسة: | Nanyang Technological University |
| اللغة: | English |
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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 |
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Asia |
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Singapore Singapore |
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NTU Library |
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DR-NTU |
| language |
English |
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Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
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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 |