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Title: UAV back-track in GPS unreliable environment
Authors: Li, Zhaonan
Keywords: Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision
Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Issue Date: 2020
Publisher: Nanyang Technological University
Abstract: Unmanned aerial vehicle (UAV) is thriving in recent years. Sensors equipped on a UAV enhance its versatility of aiding human’s work instead of just flying. Function like pathing following and back-tracking is in demand for monitoring and transportation. In this thesis, we propose a pipeline of a monocular back-tracking system based on computer vision, which deftly combines classic pose estimation algorithms with optimization methods to locate UAV itself and provide a navigation target with a 6-dimension pose. This system is proved to have stable performance in a static scenario.
Schools: School of Electrical and Electronic Engineering 
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Theses

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