Vision Based Navigation (VBN) of Unmanned Aerial Vehicles (UAV)

TL;DRAbstract

Autonomous navigation systems used in Unmanned Aerial Vehicle (UAV) are mostly dependent on Global Positioning System (GPS) as a primary means of aiding Inertial Navigation Systems (INS) for accurate and reliable navigation. GPS, however, has limitations in terms of indoor availability and expected signal interference in the GPS-denied environments. The motivation of this thesis is to address the development of a low cost navigation system used onboard UAVs while maintaining accurate navigation. Motivated by the new advances in visual sensor solutions in combination with traditional navigation sensors, the proposed system is based on fusing visual measurements with INS measurements to achieve comprehensive, fast, real-time, and low cost Vision Based Navigation (VBN) system for the UAV. VBN is based on localizing set of features (with known coordinates) on the ground and finding their matches in the image taken by an imaging sensor on the UAV using a scale and rotation invariant image m

Chat with Paper

AI Agents for this Paper