RT info:eu-repo/semantics/masterThesis
T1 Visual SLAM algorithms for aerial robots
A1 García Gonzalo, Sergio
K1 ROS (Robot Operating System)
K1 SLAM (Simultaneous Localization and Mapping)
K1 MAV (Micro Aerial Vehicle)
K1 Robótica e Informática Industrial
K1 Robotics
AB In this thesis Monocular Visual SLAM (VSLAM in the following) techniques implemented on Micro Aerial Vehicles (MAV in the following) are studied. These techniques use only one camera to estimate the position and depth in order to create a map of robot’s environment. After a study of the state-of-art monocular VSLAM algorithms, we decided to implement two of these algorithms in our system: LSD-SLAM (Large-Scale Direct Monocular SLAM) and ORB-SLAM (Oriented FAST and Rotated BRIEF SLAM), although there will be a study of PTAM too. PTAM is a VSLAM technique developed years before ORB and LSD but helps to understand both so we can establish a comparative.These algorithms are implemented in the context of rescue and/or recognition navigation tasks in indoor environments. In this kind of applications, the MAV must rely on its own onboard sensors to autonomously navigate in unknown, hostile and GPS denied environments –such as ruined or semi-demolished buildings–.For the estimation of MAV’s position, the obtained information from VSLAM is fused with the one obtained from the Inertial Measurement Unit (IMU in the following) –present in all MAVs– and other onboard sensors, using an Extended Kalman Filter (EKF in the following). Furthermore, the information from the onboard sensors is used to solve the problem of scale ambiguity common in most of monocular VSLAM algorithms.Finally, and from the previous position estimation, the frontal camera and the IMU are used to develop the ability of control the MAV in 3D. This control works in MAV’s thrusters depending on the real-time or previously programmed sent commands.The system has been implemented over a commercial low-cost aerial robot. This robot is not easily programmed, so the control has been managed from a Ground System. This system is a remote PC with ROS (Robot Operating System) installed as an Integrated Development Environment.
YR 2016
FD 2016
LK http://hdl.handle.net/10017/29021
UL http://hdl.handle.net/10017/29021
LA eng
DS MINDS@UW
RD 19-abr-2024