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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296 since deposited on 28 Jan 2015
167 in the past twelve months

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ID Code: 80107
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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