Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV)
The Direct Sparse Odometry (DSO) technique is a new form of visual odometry that makes use of a direct and sparse structure to achieve precision. In this project, the objective is to apply the DSO algorithm on the Unmanned Aerial Vehicle (UAV) application. The main studies in this project are focusi...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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SIGMA BOT
2023
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| Online Access: | http://umpir.ump.edu.my/id/eprint/39638/ http://umpir.ump.edu.my/id/eprint/39638/1/Visual%20Simultaneous%20Localization%20and%20Mapping%20Using%20DirectBased%20Method%20for%20Unmanned%20Aerial%20Vehicle%20%28UAV%29.pdf |
| _version_ | 1848825821952737280 |
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| author | M. H., Badzli N., Mohamad Yatim A., Jamaludin Z., Mohd Noh M. I., Idris N. A., Sulaiman Nur Aqilah, Othman |
| author_facet | M. H., Badzli N., Mohamad Yatim A., Jamaludin Z., Mohd Noh M. I., Idris N. A., Sulaiman Nur Aqilah, Othman |
| author_sort | M. H., Badzli |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | The Direct Sparse Odometry (DSO) technique is a new form of visual odometry that makes use of a direct and sparse structure to achieve precision. In this project, the objective is to apply the DSO algorithm on the Unmanned Aerial Vehicle (UAV) application. The main studies in this project are focusing on the experimentation for DSO algorithm parameter setting. Another objective is to evaluate the parameter and performance of DSO algorithm. The data evaluation was based on three different environments in the university campus. In this project, the Realsense D435i camera was applied to the RDDRONE-FMUK66 with interface of the Raspberry Pi 3 B+ model to capture the data. This project managed to analyze suitable point values on the active points and gradient parameter setting. The same parameter configuration which concerns on point density and keyframe management have been experimented in the three environment. From this project it is concluded that DSO on UAV can be improved in order to gain a stable data processing to be applied in the algorithm. |
| first_indexed | 2025-11-15T03:35:01Z |
| format | Article |
| id | ump-39638 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T03:35:01Z |
| publishDate | 2023 |
| publisher | SIGMA BOT |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-396382023-12-13T07:06:03Z http://umpir.ump.edu.my/id/eprint/39638/ Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV) M. H., Badzli N., Mohamad Yatim A., Jamaludin Z., Mohd Noh M. I., Idris N. A., Sulaiman Nur Aqilah, Othman TK Electrical engineering. Electronics Nuclear engineering The Direct Sparse Odometry (DSO) technique is a new form of visual odometry that makes use of a direct and sparse structure to achieve precision. In this project, the objective is to apply the DSO algorithm on the Unmanned Aerial Vehicle (UAV) application. The main studies in this project are focusing on the experimentation for DSO algorithm parameter setting. Another objective is to evaluate the parameter and performance of DSO algorithm. The data evaluation was based on three different environments in the university campus. In this project, the Realsense D435i camera was applied to the RDDRONE-FMUK66 with interface of the Raspberry Pi 3 B+ model to capture the data. This project managed to analyze suitable point values on the active points and gradient parameter setting. The same parameter configuration which concerns on point density and keyframe management have been experimented in the three environment. From this project it is concluded that DSO on UAV can be improved in order to gain a stable data processing to be applied in the algorithm. SIGMA BOT 2023 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/39638/1/Visual%20Simultaneous%20Localization%20and%20Mapping%20Using%20DirectBased%20Method%20for%20Unmanned%20Aerial%20Vehicle%20%28UAV%29.pdf M. H., Badzli and N., Mohamad Yatim and A., Jamaludin and Z., Mohd Noh and M. I., Idris and N. A., Sulaiman and Nur Aqilah, Othman (2023) Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV). Przegląd Elektrotechniczny, 8 (2023). p. 129. ISSN 0033-2097. (Published) http://www.red.pe.org.pl/abstract_pl.php?nid=13826&lang=1 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering M. H., Badzli N., Mohamad Yatim A., Jamaludin Z., Mohd Noh M. I., Idris N. A., Sulaiman Nur Aqilah, Othman Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV) |
| title | Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV) |
| title_full | Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV) |
| title_fullStr | Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV) |
| title_full_unstemmed | Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV) |
| title_short | Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV) |
| title_sort | visual simultaneous localization and mapping using direct-based method for unmanned aerial vehicle (uav) |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/39638/ http://umpir.ump.edu.my/id/eprint/39638/ http://umpir.ump.edu.my/id/eprint/39638/1/Visual%20Simultaneous%20Localization%20and%20Mapping%20Using%20DirectBased%20Method%20for%20Unmanned%20Aerial%20Vehicle%20%28UAV%29.pdf |