Real Time Onboard Camera-Based Navigation using Multi-Rotor

論文翻譯標題: 應用於多旋翼機即時影像視覺導航
  • 黃 大峯

學生論文: Master's Thesis


The development of micro aerial vehicle (MAV) has become a popular skillful work to turn into useful tool in many applications The autonomous flight navigation in different environment is necessary In devastating disaster the terrain feature has changed It is not easy to design a navigation system guild a MAV fly autonomously Especially this area doesn’t have available map and usable radio beacons The development focuses on the problem system to build a map and localize at same time known Simultaneous Localization and Mapping (SLAM) Because of the drawback of existing GPS a real-time navigation system is designed in this thesis based on visual SLAM and sensor fusion In visual SLAM an innovative visual odometry is introduced to overcome high frequency image and texture-less environment It also can estimate translation and rotation of MAV Besides only monocular camera cannot recover true scale in real world The proposed visual SLAM needs a modular multi-sensor fusion extend Kalman filter (MSF-EKF) to derive to real world and calibrate the frame in real-time Moreover a quad-rotor UAV is used to carry an embedded computer to verify the proposed navigation mechanism The test result proves the proposed system can calculate navigation message in specific environment to satisfy the visual SLAM requirements
獎項日期2014 八月 29
監督員Chin-E. Lin (Supervisor)