Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/20924
DC FieldValue
dc.titleDevelopment and applications of a vision-based unmanned helicopter
dc.contributor.authorLIN FENG
dc.date.accessioned2011-03-31T18:00:16Z
dc.date.available2011-03-31T18:00:16Z
dc.date.issued2010-08-10
dc.identifier.citationLIN FENG (2010-08-10). Development and applications of a vision-based unmanned helicopter. ScholarBank@NUS Repository.
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/20924
dc.description.abstractThe vision-based unmanned aerial vehicles (UAVs) have aroused great interest recently. This calls for the in-depth research work on the vision-based UAV, and its applications, which are presented in this thesis. A systematic and effective design methodology has been presented to construct the UAV with minimum complexity and time cost. An efficient software system for the UAV has been developed. Next, an application of the vision-based ground target following is presented. An advanced vision algorithm is proposed to detect the target, and integrated with the flight control system to guide the UAV to follow the target in-flight. Moreover, another application is presented on the vision-based motion estimation of the UAV in GPS-denied conditions. A vision augmented approach is proposed to realize the vision-based motion estimation and flight control based on the Kalman filtering. Both applications have been tested in the flight to demonstrate the capabilities of the proposed vision-based UAV.
dc.language.isoen
dc.subjectunmanned aerial vehicle, feature-based target detection, target following, motion estimation, vision-based flight control, Kalman filtering
dc.typeThesis
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.contributor.supervisorCHEN BENMEI
dc.contributor.supervisorLUM KAI YEW
dc.contributor.supervisorLEE TONG HENG
dc.description.degreePh.D
dc.description.degreeconferredDOCTOR OF PHILOSOPHY
dc.identifier.isiutNOT_IN_WOS
Appears in Collections:Ph.D Theses (Open)

Show simple item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
LinF.pdf3.98 MBAdobe PDF

OPEN

NoneView/Download

Page view(s)

388
checked on May 16, 2019

Download(s)

954
checked on May 16, 2019

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.