Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 22 for “"Vision-based navigation"”.
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Computer vision based navigation for spacecraft proximity operations
The use of computer vision for spacecraft relative navigation and proximity operations within an unknown environment is an enabling technology for a number of future commercial and scientific space missions. This thesis presents three first steps towards a larger research initiative to develop and …
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Low computation vision-based navigation for mobile robots
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1994.
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Implementation of Vision-Based Navigation for Pedestrian Environments
Autonomous navigation has rapidly grown to become a predominant field of study utilizing recent advances in robotics and artificial intelligence. Most autonomous navigation methods rely on expensive and complex sensor arrays such as Lidar, which pose practical limitations on the widespread …
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Hardware Implementation of a Complete Vision-Based Navigation Pipeline
Autonomous navigation technology has made great advances, but many of the successful hardware systems are reliant on LiDAR. LiDAR is known to be expensive and to have high computation cost, while vision, which is typically used in combination with LiDAR, has additional benefits without the same …
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Monocular vision based navigation using image moments of polygonal features
This thesis presents a novel monocular-vision-based localization and mapping algorithm using moments of polygon features. The landmarks we use are polygonal regions instead of a dense set of feature points, which can significantly reduce the computational complexity of data association and produce …
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CurveSLAM: utilizing higher level structure in stereo vision-based navigation
… uses B´ezier polynomial curves as stereo vision primitives and offers a novel SLAM formulation to update the curve parameters and vehicle pose. This method eliminates the need for point-based stereo matching, with an optimization procedure to directly extract the curve information in the …
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Vision-based Navigation and Mapping Using Non-central Catadioptric Omnidirectional Camera
… catadioptric cameras find their use in navigation and mapping, owing to their wide field of view. Having a wider field of view, or rather a potential 360 degree field of view, allows the user to see and move more freely in the navigation space. A catadioptric camera system is a low cost …
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Vision based navigation and control for unmanned free-flying remote vehicles
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1992.
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A semi-autonomous vision-based navigation system for a mobile robotic vehicle
… this thesis aims to develop a semi-autonomous vision-based navigation system for a small mobile robotic vehicle designed by Draper Laboratory. The system relies on monocular vision processing to employ an optical flow balance strategy for real-time obstacle avoidance. The system utilizes a …
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A high speed scanning system for vision based navigation/control of mobile robots.
… include different type of sensors. Usually a CeD vision system is a necessary part for these systems. This thesis considers the design of a fast mechanical scanning system for a CCD vision system and the synthesis of the optimal control for this system. The mathematical model of the transport …
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Real-time Evaluation of Vision-based Navigation for Autonomous Landing of a Rotorcraft Unmanned Aerial Vehicle in a Non-cooperative Environment
… aerial vehicle (RUAV) without human supervision is a capability that would significantly broaden the usefulness of UAVs. The benefits are even greater if the functionality is expanded to involve landing sites with unknown terrain and a lack of GPS or other positioning aids. Examples of …
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Vehicle egomotion estimation using computer vision
A 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 …
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Vision-Based Control and Flight Optimization of a Rotorcraft UAV
… UAV provides an ideal experimental platform for vision-based navigation. This thesis describes the flight tests of the US Army PALACE pro ject, which implements Moravec's pseudo-normalized correlation tracking algorithm. The tracker uses the movement of the landing site in the camera, a laser …
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A RAPID PROTOTYPING FRAMEWORK FOR VISION-BASED LOCALIZATION ALGORITHMS
… alternatives to GPS have become necessary. Vision-based navigation and localization algorithms, which estimate positional data using an onboard camera sensor, offer a promising solution. To accelerate the development of such an approach, a simulation tool is necessary for rapidly prototyping …
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Design, Development and Implementation of Intelligent Algorithms to Increase Autonomy of Quadrotor Unmanned Missions
… to real-time implementation. A dynamic inversion based control architecture is developed to minimize nonlinearities and improve robustness when the system is driven outside bounds of nominal design. The design and the implementation of the control laws are described. An immunity-based architecture …
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Automated Guided Vehicles for Material Flow in Fulfillment Centers
… integration of AGVs and modeled using a process-based discrete-event simulation framework. The specific hardware and software requirements for an AGV to fit the proposed process path results in a recommendation for a small packet AGV which utilizes LiDAR scanners and vision-based navigation …
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Design and implementation of small satellite inspection
For a variety of missions, vision-based navigation and similar architectures provide the advantage of detailed measurements for a fraction of the size and complexity of ground-based imagers. This thesis provides a simple navigation algorithm using no more than a visual centroid measurement to …
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An implementation of terrain geomorphing in the vertex shader for synthetic planetary surfaces
… can be used in the test environments for the Vision-Based Navigation Systems' (VBNS) terrain recognition and navigation algorithms. The VBNS will fly a trajectory over the planet, taking pictures along the flight and dynamically updating the imagery passed to the VBNS. The pictures will be …
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Resource Distribution for Robots and Nexus between Water and Energy
… example, the operation may sort bottles and cans based on their material: iron, aluminum, and plastic. Currently we have a vision-based system consisting of 3 robots that can effectively sort and navigate the objects using the color and shape of each object. However, the system cannot distinguish …
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Toward reliable localization: exploring infrared fiducial markers and multi-imu fusion as alternative sensor modalities
… to enhance localization robustness in GNSS- and vision-degraded settings. Vision-based navigation systems, which commonly rely on visible-spectrum cameras and fiducial markers (e.g., AprilTags or ArUco markers), are widely used for estimating position and orientation. However, their performance …
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