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Title:Autonomous visual-inertial navigation and absolute visual scale estimation
Author(s):Deng, Xinke
Advisor(s):Bretl, Timothy W.
Department / Program:Aerospace Engineering
Discipline:Aerospace Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Visual-inertial Navigation
Scale Estimation
Abstract:In this thesis, we present a system that uses a single camera and an inertial measurement unit (IMU) to navigate an Unmanned Aerial Vehicle (UAV) in a previously unknown environment. The approach consists of two parts. First, we apply a state-of-the-art simultaneous localization and mapping (SLAM) method to the video stream of a onboard camera. From the SLAM system, an up-to-a-scale pose of the camera is estimated, because the absolute size of the environment cannot be estimated with a single camera. Second, the estimated pose is fused with the data from IMU to resolve the scale ambiguity. While analyzing the performance of the system, we find that the conver- gence rate of scale decreases when the magnitude of scale increases. This relationship has not been demonstrated and explained before. In this thesis, we present an analysis and explanation of this phenomenon.
Issue Date:2015-12-08
Rights Information:Copyright 2015 Xinke Deng
Date Available in IDEALS:2016-03-02
Date Deposited:2015-12

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