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 7 of 7 for “"vision-based estimation"”.
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FPGA-aided MAV vision-based estimation
… limited. While there is ample research in motion estimation for systems that are deployed on the ground, have various sensors, as well as multiple cameras, a current challenge consists of deploying minimalistic systems suited specifically for MAVs. This thesis presents a novel approach for …
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Vision based estimation, localization, and mapping for autonomous vehicles
… mapping (SLAM) algorithms with a robot-centric estimation framework primarily using monocular vision sensors. A primary contribution of this work is to use a robot-centric mapping framework concurrently with a world-centric localization method. We exploit the differential equation of motion of …
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Vision-based estimation and control of airdrop vehicles for aerial deployment of sensor networks
… airdrop vehicle (PDV) is suggested, and a vision-based estimation and control system design, using both an IMU (Inertial Measurement Unit) and a vision system to achieve precision airdrop deployment is described. The design was also tested in a hardware-in-the-loop-simulation (HILSIM) …
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Estimation and control of flexible space structures for autonomous on-orbit assembly
… robot attached to a flexible beam-like element, vision-based estimation of vibrational motion, and trajectory control for assembly of a space structure.
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Six degrees of freedom estimation using monocular vision and moiré patterns
We present the vision-based estimation of the position and orientation of an object using a single camera relative to a novel target that incorporates the use of moire patterns. The objective is to acquire the six degree of freedom estimation that is essential for the operation of vehicles in close …
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Autonomous Landing of an Unmanned Aerial Vehicle on an Unmanned Surface Vessel using Model Predictive Control with an Adaptive-Covariance Extended Kalman Filter
<p>This thesis presents the development of vision-based estimation and model predictive control (MPC) strategies to enable an Unmanned Aerial Vehicle (UAV) to land autonomously on an Unmanned Surface Vessel (USV) subjected to wave-induced motion. An innovative Adaptive-Covariance Extended Kalman …
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Vision-Based Obstacle Avoidance for Multiple Vehicles Performing Time-Critical Missions
This dissertation discusses vision-based static obstacle avoidance for a fleet of nonholonomic robots tasked to arrive at a final destination simultaneously. Path generation for each vehicle is computed using a single polynomial function that incorporates the vehicle constraints on velocity and …