Visual Navigation and Servoing of MAV in the Indoor Environment
碩士 === 國立臺北科技大學 === 電機工程系研究所 === 100 === This paper used MAV (Micro Aerial Vehicle) to navigate in the indoor environment. From the images captured by the monocular camera on the MAV, the information of the MAV''s surroundings can be observed and utilized to navigate the MAV. Here,...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2012
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| Online Access: | http://ndltd.ncl.edu.tw/handle/7q78tt |
| Summary: | 碩士 === 國立臺北科技大學 === 電機工程系研究所 === 100 === This paper used MAV (Micro Aerial Vehicle) to navigate in the indoor environment. From the images captured by the monocular camera on the MAV, the information of the MAV''s surroundings can be observed and utilized to navigate the MAV. Here, the optical flow and vanishing point are estimated and integrated to assist the navigation through the corridor. The optical flow obtained by the pyramid Lacus-Kanade algorithm is utilized to construct the local navigation point for avoiding the static of moving obstacles, and the vanishing point is estimated to be the global navigation point for indicating the trend of the corridor. Since the feature points tracked by the Lacus-Kanade algorithm must be re-sprinkled every several image frames for keeping the tracking correctness, the information of the optical flow cannot be employed as local navigation point at the moment of re-sprinkling feature points. The pyramid Lacus-Kanade algorithm with dual thread is proposed to overcome this problem. On the other hand, the wondering navigation in the room space is presented with the wall detection method which analyzes the distribution in direction of the optical flow. The visual servoing law is also developed here to accomplish the task designed by the corridor-passing or room-wondering navigation. The experimental results show the efficiency of our approaches for MAV automatic flying in indoor environment.
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