Long-range stereo visual odometry for unmanned aerial vehicles
Warren, Michael David (2015) Long-range stereo visual odometry for unmanned aerial vehicles. PhD thesis, Queensland University of Technology.
This thesis explored the utility of long-range stereo visual odometry for application on Unmanned Aerial Vehicles. Novel parameterisations and initialisation routines were developed for the long-range case of stereo visual odometry and new optimisation techniques were implemented to improve the robustness of visual odometry in this difficult scenario. In doing so, the applications of stereo visual odometry were expanded and shown to perform adequately in situations that were previously unworkable.
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|Item Type:||QUT Thesis (PhD)|
|Supervisor:||Upcroft, Ben & Corke, Peter|
|Keywords:||Visual Odometry, Stereo Vision, Computer Vision, Unmanned Aerial Vehicles, Pose Estimation, Drones|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Institution:||Queensland University of Technology|
|Deposited On:||28 Jan 2015 07:11|
|Last Modified:||08 Sep 2015 06:40|
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