Skip navigation
Skip navigation

Real-time visual-inertial slam for multirotor platform

Qayyum,Usman

Description

This thesis presents the theoretical and practical development of a framework that enables small-scale aerial vehicles to autonomously explore and map unknown environments. The increased demands of all-terrain navigational capability and full 6 Degrees-of- Freedom (DOF) solutions have driven the usage of Inertial Measurement Unit (IMU) and related Inertial Navigation System (INS). Unfortunately, the INS is a highly unstable system, containing three integrator loops coupled with the presence of...[Show more]

CollectionsOpen Access Theses
Date published: 2015
Type: Thesis (PhD)
URI: http://hdl.handle.net/1885/150106
DOI: 10.25911/5d611ef2cf58a
Access Rights: Open Access

Download

File Description SizeFormat Image
b37881450_Qayyum_U.pdf18.15 MBAdobe PDFThumbnail


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  17 November 2022/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator