碩士 / 淡江大學 / 航空太空工程學系碩士班 / 104 / This thesis investigates the computer-vision based navigation of an unmanned aerial vehicle (UAV) using 3D scene reconstruction. Conventionally,UAVs are usually navigated with GPS signal and waypoints. This method does not work indoors, since most of GPS signal is usually blocked by buildings. In this research, we intend to navigate the UAV by constructing the 3D information
of the environment centered at the vehicle, and find the ”deepest point” in the scene, which is presumed to be the hallway or an opening, and can be utilized to explore the build. Different algorithms of 3D scene reconstruction are compared in this thesis, and an algorithm to obtain the deepest point in space is developed. Numerical simulations and experiments are demonstrated to verify the feasibility of our algorithm. Results in this these is potentially extendable to the indoor applications of UAVs.
| Identifer | oai:union.ndltd.org:TW/104TKU05295016 |
| Date | January 2016 |
| Creators | Po-Yi Lee, 李柏儀 |
| Contributors | Hsiao, Fu-Yuen, 蕭富元 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 86 |
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