Depth image based featureless SLAM for small UAVs = 소형 무인항공기를 위한 깊이 영상 기반 실시간 위치추정 및 지도작성 알고리즘 연구

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 436
  • Download : 0
This master’s thesis presents a keyframe-based featureless SLAM utilizing a single depth image stream. The real-time performance is obviously guaranteed on a small embedded computer for small UAVs, and the system is robust to UAV motions which are mainly composed by forward and rotational motions. The motion of the camera is estimated by the depth image alignment in contrast to previous point-cloud approaches. A Jacobian matrix appropriate for the depth image is analytically derived for the error optimization method. The speed of the error convergence is greatly improved by the projective matching scheme of the image alignment approach, the reduction of the image resolution, and the proposed intensity gradient-based pixel sampling method. The 3D consistent map is constructed from depth-maps of the keyframes through the pose-graph optimization. The system is integrated into a small UAV platform, and several experiments with a motion capture system are conducted to validate the performance of the system.
Advisors
Shim, Hyunchulresearcher심현철researcher
Description
한국과학기술원 :항공우주공학과,
Publisher
한국과학기술원
Issue Date
2016
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 항공우주공학과, 2016.2 ,[vi, 56 :]

Keywords

Keyframe based Featureless SLAM; Depth image stream; Small UAV; Indoor navigation; Occipital Structure Sensor; Depth image alignment; Levenberg-Marquardt algorithm; Intensity gradient-based pixel sampling method; 키프레임기반 피쳐리스 슬램; 깊이영상; 소형 무인항공기; 실내 항법; 오씨피탈 스트럭쳐 센서; 깊이 영상 정렬; LM 알고리즘; 그라디언트 기반 픽셀 샘플링 기법

URI
http://hdl.handle.net/10203/222018
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=649737&flag=dissertation
Appears in Collection
EE-Theses_Master(석사논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0