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Autonomous Quadrotor Navigation by Detecting Vanishing Points in Indoor Environments


Abstract Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses various perception and control problems in autonomous aerial robotics. The objective of this thesis is to motivate the use of perspective cues in single images for the planning and control of quadrotors in indoor environments. In addition to providing empirical evidence for the abundance of such cues in indoor environments, the usefulness of these perspective cues is demonstrated by designing a control algorithm for navigating a quadrotor in indoor corridors. An Extended Kalman Filter (EKF), implemented on top of the vision algorithm, serves to improve the robustness of the algorithm ... (more)
Created Date 2018
Contributor Ravishankar, Nikhilesh (Author) / Rodriguez, Armando A (Advisor) / Tsakalis, Konstantinos (Committee member) / Berman, Spring M (Committee member) / Arizona State University (Publisher)
Subject Electrical engineering / Robotics / Computer science / AR Drone / Extended Kalman Filter / Hough Transform / Indoor Navigation / Quadrotors / Vanishing Points
Type Masters Thesis
Extent 97 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note Masters Thesis Electrical Engineering 2018
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis