Show simple item record

dc.contributor.advisorEmilio Frazzoli.en_US
dc.contributor.authorPanish, Robert Martinen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.en_US
dc.date.accessioned2009-08-25T17:59:58Z
dc.date.available2009-08-25T17:59:58Z
dc.date.copyright2008en_US
dc.date.issued2008en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/46370
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2008.en_US
dc.descriptionThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.en_US
dc.descriptionIncludes bibliographical references (p. 107-108).en_US
dc.description.abstractA vision based navigation alter is developed for application on UAVs and tested in simulation. This alter is meant to allow the UAV to navigate in GPS-denied environments using measurements from a suite of cameras. The extended Kalman alter integrates measurements from multiple non-overlapping cameras as well as an IMU and occasional GPS. Simulations are conducted to evaluate the performance of the alter in a variety of fight regimes as well as to assess the value of using multiple cameras. Simulations demonstrate the value of using multiple cameras for egomotion estimation. Multiple non-overlapping cameras are useful for resolving motion in an unobservable direction that manifests as an ambiguity between translation and rotation. Additionally, multiple cameras are extremely useful when flying in an environment such as an urban canyon, where features remain in the fields of view for a very short period of time.en_US
dc.description.statementofresponsibilityby Robert Martin Panish.en_US
dc.format.extent108 p.en_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectAeronautics and Astronautics.en_US
dc.titleVehicle egomotion estimation using computer visionen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.en_US
dc.identifier.oclc422549622en_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record