Autonomous Target Tracking Of A Quadrotor UAV Using Monocular Visual-Inertial Odometry
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...
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| Format: | Monograph |
| Language: | English |
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Universiti Sains Malaysia
2018
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| Online Access: | http://eprints.usm.my/52523/ http://eprints.usm.my/52523/1/Autonomous%20target%20tracking%20of%20a%20quadrotor%20uav%20using%20monocular%20visual-inertial%20odometry_Chin%20Mun%20Xue.pdf |
| _version_ | 1848882279469809664 |
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| author | Chin, Mun Xue |
| author_facet | Chin, Mun Xue |
| author_sort | Chin, Mun Xue |
| building | USM Institutional Repository |
| collection | Online Access |
| description | 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. Thecontroller 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. |
| first_indexed | 2025-11-15T18:32:23Z |
| format | Monograph |
| id | usm-52523 |
| institution | Universiti Sains Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T18:32:23Z |
| publishDate | 2018 |
| publisher | Universiti Sains Malaysia |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | usm-525232022-06-09T06:13:33Z http://eprints.usm.my/52523/ Autonomous Target Tracking Of A Quadrotor UAV Using Monocular Visual-Inertial Odometry Chin, Mun Xue T Technology TL1-4050 Motor vehicles. Aeronautics. Astronautics 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. Thecontroller 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. Universiti Sains Malaysia 2018-06-01 Monograph NonPeerReviewed application/pdf en http://eprints.usm.my/52523/1/Autonomous%20target%20tracking%20of%20a%20quadrotor%20uav%20using%20monocular%20visual-inertial%20odometry_Chin%20Mun%20Xue.pdf Chin, Mun Xue (2018) Autonomous Target Tracking Of A Quadrotor UAV Using Monocular Visual-Inertial Odometry. Project Report. Universiti Sains Malaysia, Pusat Pengajian Kejuruteraan Aeroangkasa. (Submitted) |
| spellingShingle | T Technology TL1-4050 Motor vehicles. Aeronautics. Astronautics Chin, Mun Xue Autonomous Target Tracking Of A Quadrotor UAV Using Monocular Visual-Inertial Odometry |
| title | Autonomous Target Tracking Of A Quadrotor UAV Using Monocular Visual-Inertial Odometry |
| title_full | Autonomous Target Tracking Of A Quadrotor UAV Using Monocular Visual-Inertial Odometry |
| title_fullStr | Autonomous Target Tracking Of A Quadrotor UAV Using Monocular Visual-Inertial Odometry |
| title_full_unstemmed | Autonomous Target Tracking Of A Quadrotor UAV Using Monocular Visual-Inertial Odometry |
| title_short | Autonomous Target Tracking Of A Quadrotor UAV Using Monocular Visual-Inertial Odometry |
| title_sort | autonomous target tracking of a quadrotor uav using monocular visual-inertial odometry |
| topic | T Technology TL1-4050 Motor vehicles. Aeronautics. Astronautics |
| url | http://eprints.usm.my/52523/ http://eprints.usm.my/52523/1/Autonomous%20target%20tracking%20of%20a%20quadrotor%20uav%20using%20monocular%20visual-inertial%20odometry_Chin%20Mun%20Xue.pdf |