Monocular visual inertial navigation for multirotor under thrust command추력 명령을 고려한 멀티로터의 단안 영상관성 항법

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dc.contributor.advisorBang, Hyochoong-
dc.contributor.advisor방효충-
dc.contributor.authorLee, Hohyeong-
dc.date.accessioned2023-06-26T19:32:20Z-
dc.date.available2023-06-26T19:32:20Z-
dc.date.issued2022-
dc.identifier.urihttp://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1008450&flag=dissertationen_US
dc.identifier.urihttp://hdl.handle.net/10203/309690-
dc.description학위논문(석사) - 한국과학기술원 : 항공우주공학과, 2022.8,[iv, 46 p. :]-
dc.description.abstractVisual inertial Navigation can be used for state estimation in a situation in which acquisition of GPS measurement is limited. In particular, since its low structural complexity and low power consumption, filter-based monocular visual inertial navigation is suitable for multirotor which is sensitive to size and power consumption. In this paper, a tightly coupled monocular visual inertial navigation that improves accuracy by adding multirotor dynamics and thrust command to filter measurement update process is proposed. Proposed model-aided visual inertial navigation is based on the ESKF(error state Kalman filter). State propagation of the filter is performed using angular rate and acceleration measurements obtained at every cycle. Measurement update of the filter is performed using thrust command and KAZE features extracted from the images obtained from monocular camera. The superiority of the proposed model-aided visual inertial navigation is demonstrated by comparing it with the existing filter based monocular visual inertial navigation that does not use the multirotor dynamics and thrust command.-
dc.languageeng-
dc.publisher한국과학기술원-
dc.subjectMonocular camera▼aVisual inertial navigation▼aError state Kalman filter▼aThrust command-
dc.subject단안 카메라▼a영상관성 항법▼a오차 상태 칼만 필터▼a추력 명령-
dc.titleMonocular visual inertial navigation for multirotor under thrust command-
dc.title.alternative추력 명령을 고려한 멀티로터의 단안 영상관성 항법-
dc.typeThesis(Master)-
dc.identifier.CNRN325007-
dc.description.department한국과학기술원 :항공우주공학과,-
dc.contributor.alternativeauthor이호형-
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