Autonomous target tracking of a quadrotor uav using monocular visual-inertial odometry

dc.contributor.author	Chin Mun Xue
dc.date.accessioned	2021-01-19T08:31:21Z
dc.date.available	2021-01-19T08:31:21Z
dc.date.issued	2018-06
dc.description.abstract	Unmanned Aerial Vehicle (UAV) has been finding its ways into different applications. Hence, recent years witness extensive research towards achieving higher autonomy in UAV. Computer Vision (CV) algorithms replace Global Navigation Satellite System (GNSS), which is not reliable when the weather is bad, inside buildings or at secluded areas in performing real-time pose estimation. The controller later uses the pose to navigate the UAV. This project presents a simulation of UAV, in MATLAB & SIMULINK, capable of autonomously detecting and tracking a designed visual marker. Referring to and improving the state-of-the-art CV algorithms, there is a newly formulated approach to detect the designed visual marker. The combination of data from the monocular camera with that from Inertial Measurement Unit (IMU) and sonar sensor enables the pose estimation of the UAV relative to the designed visual marker. A Proportional-Integral-Derivative (PID) controller later uses the pose of the UAV to navigate itself to be always following the target of interest.	en_US
dc.identifier.uri	http://hdl.handle.net/123456789/10904
dc.language.iso	en	en_US
dc.title	Autonomous target tracking of a quadrotor uav using monocular visual-inertial odometry	en_US
dc.type	Other	en_US

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