Navigation and Mapping for Aerial Vehicles Based on Inertial and Imaging Sensors

Download or read book Navigation and Mapping for Aerial Vehicles Based on Inertial and Imaging Sensors written by and published by . This book was released on 2013 with total page 82 pages. Available in PDF, EPUB and Kindle. Book excerpt: Small and medium sized Unmanned Aerial Vehicles (UAV) are today used in military missions, and will in the future find many new application areas such as surveillance for exploration and security. To enable all these foreseen applications, the UAV's have to be cheap and of low weight, which restrict the sensors that can be used for navigation and surveillance. This thesis investigates several aspects of how fusion of navigation and imaging sensors can improve both tasks at a level that would require much more expensive sensors with the traditional approach of separating the navigation system from the applications. The core idea is that vision sensors can support the navigation system by providing odometric information of the motion, while the navigation system can support the vision algorithms, used to map the surrounding environment, to be more efficient. The unified framework for this kind of approach is called Simultaneous Localisation and Mapping (SLAM) and it will be applied here to inertial sensors, radar and optical camera.