Vision Aided Navigation For Gps Denied Environments Using Landmark Feature Identification

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Vision-aided Navigation for GPS-denied Environments Using Landmark Feature Identification

Author : Tennyson Samuel John
Publisher :
ISBN 13 :
Total Pages : 230 pages
Book Rating : 4.:/5 (98 download)

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Book Synopsis Vision-aided Navigation for GPS-denied Environments Using Landmark Feature Identification by : Tennyson Samuel John

Download or read book Vision-aided Navigation for GPS-denied Environments Using Landmark Feature Identification written by Tennyson Samuel John and published by . This book was released on 2014 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis investigate the development of vision-aided navigation algorithms that utilize processed images from a monocular camera as an alternative to GPS. The vision-aided navigation approach explored in this thesis entails defining a set of inertial landmarks, the locations of which are known within the environment, and employing image processing algorithms to detect these landmarks in image frames collected from an onboard monocular camera. These vision-based landmark measurements effectively serve as surrogate GPS measurements that can be incorporated into a navigation filter. Several image processing algorithms were considered for landmark detection and this thesis focuses in particular on two approaches: the continuous adaptive mean shift (CAMSHIFT) algorithm and the adaptable compressive (ADCOM) tracking algorithm. These algorithms are discussed in detail and applied for the detection and tracking of landmarks in monocular camera images. Navigation filters are then designed that employ sensor fusion of accelerometer and rate gyro data from an inertial measurement unit (IMU) with vision-based measurements of the centroids of one or more landmarks in the scene. These filters are tested in simulated navigation scenarios subject to varying levels of sensor and measurement noise and varying number of landmarks. Finally, conclusions and recommendations are provided regarding the implementation of this vision-aided navigation approach for autonomous vehicle navigation systems.

Vision-aided Navigation Using Tracked Landmarks

Author : Nicodemus Myhre
Publisher :
ISBN 13 :
Total Pages : 168 pages
Book Rating : 4.:/5 (14 download)

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Book Synopsis Vision-aided Navigation Using Tracked Landmarks by : Nicodemus Myhre

Download or read book Vision-aided Navigation Using Tracked Landmarks written by Nicodemus Myhre and published by . This book was released on 2018 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents vision-based state estimation algorithms for autonomous vehicles to navigate within GPS-denied environments. To accomplish this objective, an approach is developed that utilizes a priori information about the environment. In particular, the algorithm leverages recognizable 'landmarks' in the environment, the positions of which are known in advance, to stabilize the state estimate. Measurements of the position of one or more landmarks in the image plane of a monocular camera are then filtered using an extended Kalman filter (EKF) with data from a traditional inertial measurement unit (IMU) consisting of accelerometers and rate gyros to produce the state estimate. Additionally, the EKF algorithm is adapted to accommodate a stereo camera configuration to measure the distance to a landmark using parallax. The performances of the state estimation algorithms for both the monocular and stereo camera configurations are tested and compared using simulation studies with a quadcopter UAV model. State estimation results are then presented using flight data from a quadcopter UAV instrumented with an IMU and a GoPro camera. It is shown that the proposed landmark navigation method is capable of preventing IMU drift errors by providing a GPS-like measurement when landmarks can be identified. Additionally, the landmark method pairs well with non a priori measurements for interims when landmarks are not available.

Vision-aided Navigation for Autonomous Vehicles Using Tracked Feature Points

Author : Ahmed Saber Soliman Sayem
Publisher :
ISBN 13 :
Total Pages : 164 pages
Book Rating : 4.:/5 (959 download)

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Book Synopsis Vision-aided Navigation for Autonomous Vehicles Using Tracked Feature Points by : Ahmed Saber Soliman Sayem

Download or read book Vision-aided Navigation for Autonomous Vehicles Using Tracked Feature Points written by Ahmed Saber Soliman Sayem and published by . This book was released on 2016 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis discusses the evaluation, implementation, and testing of several navigation algorithms and feature extraction algorithms using an inertial measurement unit (IMU) and an image capture device (camera) mounted on a ground robot and a quadrotor UAV. The vision-aided navigation algorithms are implemented on data-collected from sensors on an unmanned ground vehicle and a quadrotor, and the results are validated by comparison with GPS data. The thesis investigates sensor fusion techniques for integrating measured IMU data with information extracted from image processing algorithms in order to provide accurate vehicle state estimation. This image-based information takes the forms of features, such as corners, that are tracked over multiple image frames. An extended Kalman filter (EKF) in implemented to fuse vision and IMU data. The main goal of the work is to provide navigation of mobile robots in GPS-denied environments such as indoor environments, cluttered urban environments, or space environments such as asteroids, other planets or the moon. The experimental results show that combining pose information extracted from IMU readings along with pose information extracted from a vision-based algorithm managed to solve the drift problem that comes from using IMU alone and the scale problem that comes from using a monocular vision-based algorithm alone.

Vision-based Navigation and Mapping for Flight in GPS-denied Environments

Author : Allen David Wu
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (74 download)

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Book Synopsis Vision-based Navigation and Mapping for Flight in GPS-denied Environments by : Allen David Wu

Download or read book Vision-based Navigation and Mapping for Flight in GPS-denied Environments written by Allen David Wu and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Traditionally, the task of determining aircraft position and attitude for automatic control has been handled by the combination of an inertial measurement unit (IMU) with a Global Positioning System (GPS) receiver. In this configuration, accelerations and angular rates from the IMU can be integrated forward in time, and position updates from the GPS can be used to bound the errors that result from this integration. However, reliance on the reception of GPS signals places artificial constraints on aircraft such as small unmanned aerial vehicles (UAVs) that are otherwise physically capable of operation in indoor, cluttered, or adversarial environments. Theefore, this work investigates methods for incorporating a monocular vision sensor into a standard avionics suite. Vision sensors possess the potential to extract information about the surrounding environment and determine the locations of features or points of interest. Having mapped out landmarks in an unknown environment, subsequent observations by the vision sensor can in turn be used to resolve aircraft position and orientation while continuing to map out new features. An extended Kalman filter framework for performing the tasks of vision-based mapping and navigation is presented. Feature points are detected in each image using a Harris corner detector, and these feature measurements are corresponded from frame to frame using a statistical Z-test. When GPS is available, sequential observations of a single landmark point allow the point's location in inertial space to be estimated. When GPS is not available, landmarks that have been sufficiently triangulated can be used for estimating vehicle position and attitude. Simulation and real-time flight test results for vision-based mapping and navigation are presented to demonstrate feasibility in real-time applications. These methods are then integrated into a practical framework for flight in GPS-denied environments and verified through the autonomous flight of a UAV during a loss-of-GPS scenario. The methodology is also extended to the application of vehicles equipped with stereo vision systems. This framework enables aircraft capable of hovering in place to maintain a bounded pose estimate indefinitely without drift during a GPS outage.

Deep Learning in Computer Vision

Author : Mahmoud Hassaballah
Publisher : CRC Press
ISBN 13 : 1351003801
Total Pages : 261 pages
Book Rating : 4.3/5 (51 download)

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Book Synopsis Deep Learning in Computer Vision by : Mahmoud Hassaballah

Download or read book Deep Learning in Computer Vision written by Mahmoud Hassaballah and published by CRC Press. This book was released on 2020-03-23 with total page 261 pages. Available in PDF, EPUB and Kindle. Book excerpt: Deep learning algorithms have brought a revolution to the computer vision community by introducing non-traditional and efficient solutions to several image-related problems that had long remained unsolved or partially addressed. This book presents a collection of eleven chapters where each individual chapter explains the deep learning principles of a specific topic, introduces reviews of up-to-date techniques, and presents research findings to the computer vision community. The book covers a broad scope of topics in deep learning concepts and applications such as accelerating the convolutional neural network inference on field-programmable gate arrays, fire detection in surveillance applications, face recognition, action and activity recognition, semantic segmentation for autonomous driving, aerial imagery registration, robot vision, tumor detection, and skin lesion segmentation as well as skin melanoma classification. The content of this book has been organized such that each chapter can be read independently from the others. The book is a valuable companion for researchers, for postgraduate and possibly senior undergraduate students who are taking an advanced course in related topics, and for those who are interested in deep learning with applications in computer vision, image processing, and pattern recognition.

Quad Rotorcraft Control

Author : Luis Rodolfo García Carrillo
Publisher : Springer Science & Business Media
ISBN 13 : 144714399X
Total Pages : 191 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Quad Rotorcraft Control by : Luis Rodolfo García Carrillo

Download or read book Quad Rotorcraft Control written by Luis Rodolfo García Carrillo and published by Springer Science & Business Media. This book was released on 2012-08-12 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text give the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.

An Investigation in the Use of Hyperspectral Imagery Using Machine Learning for Vision-aided Navigation

Author : Isaac T. Ege
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (139 download)

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Book Synopsis An Investigation in the Use of Hyperspectral Imagery Using Machine Learning for Vision-aided Navigation by : Isaac T. Ege

Download or read book An Investigation in the Use of Hyperspectral Imagery Using Machine Learning for Vision-aided Navigation written by Isaac T. Ege and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vision aided navigation has become an important topic of research for assisting with navigational tasks when traditional navigation technology is not functioning properly, such as GPS devices. Approaches based upon traditional visible and thermal camera data have been shown to be effective across a wide range of scenarios; however, there are situations (such as over deserts and large bodies of water) where there is not enough features in the imagery for it to be effective. Hyperspectral imagery (HSI) has not been heavily explored for vision-aided navigation applications and can provide a wealth of features to aid with these tasks. In this work we investigate the use of HSI in vision-aided navigation using machine learning. This work aims to show that HSI can provide utility in vision-aided navigation and can be more effective than conventional imagery approaches for certain tasks. We explore the use of HSI data selected from different geographic locations across the United States to demonstrate that spectral features from these different locales can be used to distinguish and classify them. The HSI data used was collected with NASA's AVIRIS sensor due to the availability of large amounts of data across the United States. The neural network that was trained and tested was a convolutional neural network that uses a multi-scale filter bank and residual learning to improve the network. A second network was created, trained, and tested on equivalent RGB images so that performance could be compared against the HSI network. We tested the networks in two ways. First, we made use of all selected data from each location class that resulted in an unequal number of location samples, and second where we selected an equal number of samples from each location class. We optimized the hyper parameters to yield best performance in each case and found that the best HSI network out performed the best RGB network in every test case. While this work is preliminary, it demonstrates the strong potential of HSI for vision aided navigation applications.

Stereo Vision Based Landmark Detection for Robot Navigation in Unstructured Outdoor Environments

Author : Michael Boelstoft Holte
Publisher :
ISBN 13 :
Total Pages : 236 pages
Book Rating : 4.:/5 (474 download)

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Book Synopsis Stereo Vision Based Landmark Detection for Robot Navigation in Unstructured Outdoor Environments by : Michael Boelstoft Holte

Download or read book Stereo Vision Based Landmark Detection for Robot Navigation in Unstructured Outdoor Environments written by Michael Boelstoft Holte and published by . This book was released on 2005 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Vision-based Navigation Using Landmark Recognition for Unmanned Aerial Vehicles

Author : Mikael Mannberg
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (16 download)

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Book Synopsis Vision-based Navigation Using Landmark Recognition for Unmanned Aerial Vehicles by : Mikael Mannberg

Download or read book Vision-based Navigation Using Landmark Recognition for Unmanned Aerial Vehicles written by Mikael Mannberg and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Computational Intelligence for Pattern Recognition

Author : Witold Pedrycz
Publisher : Springer
ISBN 13 : 3319896296
Total Pages : 431 pages
Book Rating : 4.3/5 (198 download)

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Book Synopsis Computational Intelligence for Pattern Recognition by : Witold Pedrycz

Download or read book Computational Intelligence for Pattern Recognition written by Witold Pedrycz and published by Springer. This book was released on 2018-04-30 with total page 431 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book presents a comprehensive and up-to-date review of fuzzy pattern recognition. It carefully discusses a range of methodological and algorithmic issues, as well as implementations and case studies, and identifies the best design practices, assesses business models and practices of pattern recognition in real-world applications in industry, health care, administration, and business. Since the inception of fuzzy sets, fuzzy pattern recognition with its methodology, algorithms, and applications, has offered new insights into the principles and practice of pattern classification. Computational intelligence (CI) establishes a comprehensive framework aimed at fostering the paradigm of pattern recognition. The collection of contributions included in this book offers a representative overview of the advances in the area, with timely, in-depth and comprehensive material on the conceptually appealing and practically sound methodology and practices of CI-based pattern recognition.

UAV Sensors for Environmental Monitoring

Author : Felipe Gonzalez Toro
Publisher : MDPI
ISBN 13 : 3038427535
Total Pages : 671 pages
Book Rating : 4.0/5 (384 download)

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Book Synopsis UAV Sensors for Environmental Monitoring by : Felipe Gonzalez Toro

Download or read book UAV Sensors for Environmental Monitoring written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-03-05 with total page 671 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV Sensors for Environmental Monitoring" that was published in Sensors

Selection of an Optimal Set of Landmarks for Vision-based Navigation [microform]

Author : Pablo L. Sala
Publisher : Library and Archives Canada = Bibliothèque et Archives Canada
ISBN 13 : 9780612952751
Total Pages : 206 pages
Book Rating : 4.9/5 (527 download)

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Book Synopsis Selection of an Optimal Set of Landmarks for Vision-based Navigation [microform] by : Pablo L. Sala

Download or read book Selection of an Optimal Set of Landmarks for Vision-based Navigation [microform] written by Pablo L. Sala and published by Library and Archives Canada = Bibliothèque et Archives Canada. This book was released on 2004 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent work in the object recognition community has yielded a class of interest point-based features that are stable under significant changes in scale, viewpoint, and illumination, making them ideally suited to landmark-based navigation. Although many such features may be visible in a given view of the robot's environment, only a few such features are necessary to estimate the robot's position and orientation. In this thesis, we address the problem of automatically selecting, from the entire set of features visible in the robot's environment, the minimum (optimal) set by which the robot can navigate its environment. Specifically, we decompose the world into a small number of maximally sized regions such that at each position in a given region, the same small set of features is visible. We introduce a novel graph theoretic formulation of the problem and prove that it is NP-complete. Next, we introduce a number of approximation algorithms and evaluate them on both synthetic and real data.

Autonomous Flying Robots

Author : Kenzo Nonami
Publisher : Springer Science & Business Media
ISBN 13 : 4431538569
Total Pages : 341 pages
Book Rating : 4.4/5 (315 download)

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Book Synopsis Autonomous Flying Robots by : Kenzo Nonami

Download or read book Autonomous Flying Robots written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2010-09-15 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

Vision-Based Navigation and Recognition

Author : Aziel Rosenfeld
Publisher :
ISBN 13 :
Total Pages : 40 pages
Book Rating : 4.:/5 (452 download)

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Book Synopsis Vision-Based Navigation and Recognition by : Aziel Rosenfeld

Download or read book Vision-Based Navigation and Recognition written by Aziel Rosenfeld and published by . This book was released on 1996 with total page 40 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research conducted under this contract dealt with the following topics: (1) Navigation: Navigational competencies, visual interception, robot control in navigational tasks, navigational functionalities, landmark-based localization, visibility in terrain, road following, and mobility in discrete spaces. (2) Motion analysis: flow-based methods, correspondence-based methods, and other approaches. (3) Recovery: Statistical reliability, stereo, texture, shading, and pose. (4) Invariants -- both geometric and other types. (5) Human faces: Analysis of images of human faces, including feature extraction, face recognition, compression, and recognition of facial expressions. Other topics studied under the contract include fingerprints and documents, coding, diffusion, search, line fitting, matching and registration, parallel image analysis, camera motion control, and function-based object recognition.

Vision-aided, Cooperative Navigation for Multiple Unmanned Vehicles

Author : Jason K. Bingham
Publisher :
ISBN 13 :
Total Pages : 388 pages
Book Rating : 4.:/5 (464 download)

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Book Synopsis Vision-aided, Cooperative Navigation for Multiple Unmanned Vehicles by : Jason K. Bingham

Download or read book Vision-aided, Cooperative Navigation for Multiple Unmanned Vehicles written by Jason K. Bingham and published by . This book was released on 2009 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Mobile Robot: Motion Control and Path Planning

Author : Ahmad Taher Azar
Publisher : Springer Nature
ISBN 13 : 3031265645
Total Pages : 670 pages
Book Rating : 4.0/5 (312 download)

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Book Synopsis Mobile Robot: Motion Control and Path Planning by : Ahmad Taher Azar

Download or read book Mobile Robot: Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.

2D and 3D Image Analysis by Moments

Author : Jan Flusser
Publisher : John Wiley & Sons
ISBN 13 : 1119039355
Total Pages : 555 pages
Book Rating : 4.1/5 (19 download)

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Book Synopsis 2D and 3D Image Analysis by Moments by : Jan Flusser

Download or read book 2D and 3D Image Analysis by Moments written by Jan Flusser and published by John Wiley & Sons. This book was released on 2016-12-19 with total page 555 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents recent significant and rapid development in the field of 2D and 3D image analysis 2D and 3D Image Analysis by Moments, is a unique compendium of moment-based image analysis which includes traditional methods and also reflects the latest development of the field. The book presents a survey of 2D and 3D moment invariants with respect to similarity and affine spatial transformations and to image blurring and smoothing by various filters. The book comprehensively describes the mathematical background and theorems about the invariants but a large part is also devoted to practical usage of moments. Applications from various fields of computer vision, remote sensing, medical imaging, image retrieval, watermarking, and forensic analysis are demonstrated. Attention is also paid to efficient algorithms of moment computation. Key features: Presents a systematic overview of moment-based features used in 2D and 3D image analysis. Demonstrates invariant properties of moments with respect to various spatial and intensity transformations. Reviews and compares several orthogonal polynomials and respective moments. Describes efficient numerical algorithms for moment computation. It is a "classroom ready" textbook with a self-contained introduction to classifier design. The accompanying website contains around 300 lecture slides, Matlab codes, complete lists of the invariants, test images, and other supplementary material. 2D and 3D Image Analysis by Moments, is ideal for mathematicians, computer scientists, engineers, software developers, and Ph.D students involved in image analysis and recognition. Due to the addition of two introductory chapters on classifier design, the book may also serve as a self-contained textbook for graduate university courses on object recognition.