Vision-based navigation and mapping for flight in GPS-denied environments

Vision-based navigation and mapping for flight in GPS-denied environments

Traditionally, the task of determining aircraft position and attitude for automatic control has been handled by the combination of an inertial measurement unit (IMU) with a Global Positioning System (GPS) receiver. In this configuration, accelerations and angular rates from the IMU can be integrate...

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Bibliographic Details
Main Author: Wu, Allen David
Published: Georgia Institute of Technology 2011
Subjects:
Loss-of-GPS
GPS-denied
UAS
Vision
Navigation
Mapping
UAV
Ducted fan
Autonomous hover
Autonomous flight
Stereo vision
Monocular vision
Flight test
Relative navigation
Feature points
Harris corner detector
Direct linear transformation
DLT
Vision-aided inertial navigation
GPS-aided INS
Image processing
Visual correspondence
Extended Kalman filter
EKF
Indoor flight
Kalman filtering
Online Access:http://hdl.handle.net/1853/37281

Internet

http://hdl.handle.net/1853/37281

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