Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/35230
Title: Vision Based Localization for Multiple UAVs and Mobile Robots
Authors: YAO JIN
Keywords: Vision, Localization, Multiple, UAVs, Mobile Robots
Issue Date: 22-Mar-2012
Source: YAO JIN (2012-03-22). Vision Based Localization for Multiple UAVs and Mobile Robots. ScholarBank@NUS Repository.
Abstract: The thesis presents a comprehensive vision-based localization approach for multiple UAVs and mobile robots. A HSV color space method and a more sophisticated vision approach based on ARToolKit SDK is proposed for multiple UAVs or mobile robots tracking and localization. This method can be used for indoor control scenarios verification especially on multi-robot task-based formation control. Furthermore, a mobile localization system based on ARToolKit SDK integration with ARDrone SDK is implemented in the thesis, which enables the drone not only to track multiple objects, recognize them but also to localize itself. This detailed integration has much potential and many applications on some interesting scenarios such as heterogeneous formation control of UAVs and mobile robots, task-based formation control of UAVs and mobile robots etc.
URI: http://scholarbank.nus.edu.sg/handle/10635/35230
Appears in Collections:Master's Theses (Open)

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