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oai:www.ideals.illinois.edu:2142/89154 2023-07-11 col_2142_14800 col_2142_5131 com_2142_14799 com_2142_234 com_2142_5130

Made available in DSpace on 2016-03-02T20:24:16Z (GMT). No. of bitstreams: 2 DENG-THESIS-2015.pdf: 10264670 bytes, checksum: 79c01524ac593eb282a62d77039463b6 (MD5) LICENSE.txt: 4207 bytes, checksum: 906aa460aa653867500b8233c87788c2 (MD5) Previous issue date: 2015-12-08 Embargo set by: Seth Robbins for item 91356 Lift date: 2018-03-02T20:24:31Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system U of I Only Restriction Lifted for Item 91356 on 2018-03-03T10:15:25Z. application/pdf http://hdl.handle.net/2142/89154 en Copyright 2015 Xinke Deng Visual-inertial Navigation Bretl, Timothy W. Deng, Xinke 2016-03-02T20:24:16Z 2016-03-02T20:24:16Z 2018-03-03T10:15:25Z 2015-12-08 2015-12 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. Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2017-12-01 The student, Xinke Deng, accepted the attached license on 2015-12-07 at 23:03. The student, Xinke Deng, submitted this Thesis for approval on 2015-12-07 at 23:13. This Thesis was approved for publication on 2015-12-08 at 11:34. DSpace SAF Submission Ingestion Package generated from Vireo submission #8960 on 2016-03-02 at 14:07:51 Scale Estimation Autonomous visual-inertial navigation and absolute visual scale estimation text text Aerospace Engineering Aerospace Engineering University of Illinois at Urbana-Champaign Thesis M.S.