Alternate Title
Vision based unmanned aerial vehicles pose estimation
Advisor(s)
Mario Sznaier
Date of Award
2008
Date Accepted
8-2008
Degree Grantor
Northeastern University
Degree Level
M.S.
Degree Name
Master of Science
Department or Academic Unit
College of Engineering. Department of Electrical and Computer Engineering.
Keywords
Electrical engineering, Unmanned Aerial Vehicles, UAV
Subject Categories
Drone aircraft--Control systems, Navigation (Aeronautics)--Equipment and supplies
Disciplines
Electrical and Computer Engineering | Engineering
Abstract
The popularity of Unmanned Aerial Vehicles(UAVs) has increased dramatically in the past few decades. The main challenging task for UAVs operation is to find their position and orientation accurately and continuously during the flight, using the on-board sensors (camera in our case). There are lots of different approaches for UAV pose estimation in literature now. Several different approach and their problems in real-life application were studied in this research. We chose the real time single camera SLAM method, because our robot was equipped with an on-board camera, and MonoSLAM had proved its reliability in previous localization experiments. In our work, we obtained the ground truth by the Vicon cameras. The experimental results suggest that this method can be reliably used in the control of indoor UAV navigation.
Document Type
Master's Thesis
Rights Holder
Zahra Mohajerani
Permanent URL
Recommended Citation
Mohajerani, Zahra, "Vision-based UAV pose estimation" (2008). Electrical and Computer Engineering Master's Theses. Paper 26. http://hdl.handle.net/2047/d20000020
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