Vision-based navigation for an indoor uav using multi-camera system = 멀티 카메라 시스템을 이용한 실내용 무인항공기의 영상기반 항법 연구

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This thesis presents a vision-based navigation for an indoor UAV utilizing only low cost cameras installed indoor. To overcome the limitation of the outside flight experiment, an indoor test-bed using multi-camera system is developed, which consists of four major components: the multi-camera system, the ground computer, the onboard color marker, and the quad-rotor UAV. The dynamic model of the UAV is the six-degrees-of-freedom nonlinear equations derived from Newton``s Law. The measurements are the visual information of the color marker attached to the UAV which is obtained periodically from multi-camera via computer vision algorithm. The extended Kalman filter considering the delayed measurement is designed to obtain the full 6 DOF pose estimation for the UAV. The quad-rotor UAV is considered as a platform vehicle since it has simple dynamics and can be effectively operated in narrow indoor environments. The control system is designed based on the classical PID control. This thesis finishes with several experimental results illustrating the performance and properties of the proposed the indoor test-bed and the vision-based navigation algorithm.
Advisors
Tahk, Min-Jearesearcher탁민제researcher
Description
한국과학기술원 : 항공우주공학전공,
Publisher
한국과학기술원
Issue Date
2010
Identifier
419181/325007  / 020083303
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 항공우주공학전공, 2010.2, [ vii, 64 p. ]

Keywords

Quad-rotor UAV; Multi-camera system; Indoor test-bed; Extended Kalman filter; Vision-based Navigation; 영상기반 항법; 쿼드로터 무인항공기; 멀티 카메라 시스템; 실내 테스트베드; 확장형 칼만필터

URI
http://hdl.handle.net/10203/26465
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=419181&flag=dissertation
Appears in Collection
AE-Theses_Master(석사논문)
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