{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/118667"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/118667","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Pre-integrated dynamics factors and a dynamical agile visual-inertial dataset for UAV perception","abstract":"For the past few years, the rapid development of unmanned aerial vehicle (UAV) technology has been met by increased interest in these platforms for a wide range of applications. Particularly, the autonomous navigation of these vehicles is of great interest for applications such as surveillance, mapping, searching, agriculture, and film-making, to name a few. But autonomous UAV research has a long way to go to meet the capabilities and robustness required in many of these applications. This work presents two contributions towards closing that gap: pre-integrated dynamics factors for factor graph visual-inertial odometry (VIO), and a large-scale dataset with a great variety of visual, inertial, and dynamical sensor data from a quadrotor platform. The pre-integrated dynamics factors were tested on a challenging subset of the dataset and showed an improvement in robustness of a VIO system. The size and variety of the dataset make it a valuable tool for evaluating and testing visual-inertial estimation algorithms, as shown with the dynamics factors. Both contributions facilitate the development of more robust autonomous UAV navigation systems.","abstract_html":"For the past few years, the rapid development of unmanned aerial vehicle (UAV) technology has been met by increased interest in these platforms for a wide range of applications. Particularly, the autonomous navigation of these vehicles is of great interest for applications such as surveillance, mapping, searching, agriculture, and film-making, to name a few. But autonomous UAV research has a long way to go to meet the capabilities and robustness required in many of these applications. This work presents two contributions towards closing that gap: pre-integrated dynamics factors for factor graph visual-inertial odometry (VIO), and a large-scale dataset with a great variety of visual, inertial, and dynamical sensor data from a quadrotor platform. The pre-integrated dynamics factors were tested on a challenging subset of the dataset and showed an improvement in robustness of a VIO system. The size and variety of the dataset make it a valuable tool for evaluating and testing visual-inertial estimation algorithms, as shown with the dynamics factors. Both contributions facilitate the development of more robust autonomous UAV navigation systems.","abstract_has_math":false,"creators":["Antonini, Amado"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Sertac Karaman and John Leonard."],"committee_chairs":[],"committee_members":[],"year":2018,"date_issued":"2018","date_published":"2018","updated_at":"2026-07-22T22:21:15Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["MIT theses are protected by copyright. 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The certified thesis is available in the Institute Archives and Special Collections.","Cataloged from student-submitted PDF version of thesis.","Includes bibliographical references (pages 75-78)."]},{"key":"dc:description.abstract","label":"Abstract","values":["For the past few years, the rapid development of unmanned aerial vehicle (UAV) technology has been met by increased interest in these platforms for a wide range of applications. Particularly, the autonomous navigation of these vehicles is of great interest for applications such as surveillance, mapping, searching, agriculture, and film-making, to name a few. But autonomous UAV research has a long way to go to meet the capabilities and robustness required in many of these applications. This work presents two contributions towards closing that gap: pre-integrated dynamics factors for factor graph visual-inertial odometry (VIO), and a large-scale dataset with a great variety of visual, inertial, and dynamical sensor data from a quadrotor platform. The pre-integrated dynamics factors were tested on a challenging subset of the dataset and showed an improvement in robustness of a VIO system. The size and variety of the dataset make it a valuable tool for evaluating and testing visual-inertial estimation algorithms, as shown with the dynamics factors. Both contributions facilitate the development of more robust autonomous UAV navigation systems."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.M."]},{"key":"dc:title","label":"Title","values":["Pre-integrated dynamics factors and a dynamical agile visual-inertial dataset for UAV perception"]}]}],"canonical_facts":{"dc:contributor.advisor":["Sertac Karaman and John Leonard."],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Mechanical Engineering."],"dc:contributor.other":["Massachusetts Institute of Technology. Department of Mechanical Engineering."],"dc:creator":["Antonini, Amado"],"dc:date.accessioned":["2018-10-22T18:27:30Z"],"dc:date.available":["2018-10-22T18:27:30Z"],"dc:date.issued":["2018"],"dc:description":["Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.","This electronic version was submitted by the student author. 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The pre-integrated dynamics factors were tested on a challenging subset of the dataset and showed an improvement in robustness of a VIO system. The size and variety of the dataset make it a valuable tool for evaluating and testing visual-inertial estimation algorithms, as shown with the dynamics factors. Both contributions facilitate the development of more robust autonomous UAV navigation systems."],"dc:description.degree":["S.M."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/118667"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["MIT theses are protected by copyright. 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