Cover Image

Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV)

The Direct Sparse Odometry (DSO) technique is a new form of visual odometry that makes use of a direct and sparse structure to achieve precision. In this project, the objective is to apply the DSO algorithm on the Unmanned Aerial Vehicle (UAV) application. The main studies in this project are focusi...

Full description

Saved in:
Bibliographic Details
Main Authors: M. H., Badzli, N., Mohamad Yatim, A., Jamaludin, Z., Mohd Noh, M. I., Idris, N. A., Sulaiman, Nur Aqilah, Othman
Format: Article
Language:English
Published: SIGMA BOT 2023
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/39638/1/Visual%20Simultaneous%20Localization%20and%20Mapping%20Using%20DirectBased%20Method%20for%20Unmanned%20Aerial%20Vehicle%20%28UAV%29.pdf
http://umpir.ump.edu.my/id/eprint/39638/
http://www.red.pe.org.pl/abstract_pl.php?nid=13826&lang=1
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.ump.umpir.39638
record_format eprints
spelling my.ump.umpir.396382023-12-13T07:06:03Z http://umpir.ump.edu.my/id/eprint/39638/ Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV) M. H., Badzli N., Mohamad Yatim A., Jamaludin Z., Mohd Noh M. I., Idris N. A., Sulaiman Nur Aqilah, Othman TK Electrical engineering. Electronics Nuclear engineering The Direct Sparse Odometry (DSO) technique is a new form of visual odometry that makes use of a direct and sparse structure to achieve precision. In this project, the objective is to apply the DSO algorithm on the Unmanned Aerial Vehicle (UAV) application. The main studies in this project are focusing on the experimentation for DSO algorithm parameter setting. Another objective is to evaluate the parameter and performance of DSO algorithm. The data evaluation was based on three different environments in the university campus. In this project, the Realsense D435i camera was applied to the RDDRONE-FMUK66 with interface of the Raspberry Pi 3 B+ model to capture the data. This project managed to analyze suitable point values on the active points and gradient parameter setting. The same parameter configuration which concerns on point density and keyframe management have been experimented in the three environment. From this project it is concluded that DSO on UAV can be improved in order to gain a stable data processing to be applied in the algorithm. SIGMA BOT 2023 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/39638/1/Visual%20Simultaneous%20Localization%20and%20Mapping%20Using%20DirectBased%20Method%20for%20Unmanned%20Aerial%20Vehicle%20%28UAV%29.pdf M. H., Badzli and N., Mohamad Yatim and A., Jamaludin and Z., Mohd Noh and M. I., Idris and N. A., Sulaiman and Nur Aqilah, Othman (2023) Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV). Przegląd Elektrotechniczny, 8 (2023). p. 129. ISSN 0033-2097. (Published) http://www.red.pe.org.pl/abstract_pl.php?nid=13826&lang=1
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
M. H., Badzli
N., Mohamad Yatim
A., Jamaludin
Z., Mohd Noh
M. I., Idris
N. A., Sulaiman
Nur Aqilah, Othman
Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV)
description The Direct Sparse Odometry (DSO) technique is a new form of visual odometry that makes use of a direct and sparse structure to achieve precision. In this project, the objective is to apply the DSO algorithm on the Unmanned Aerial Vehicle (UAV) application. The main studies in this project are focusing on the experimentation for DSO algorithm parameter setting. Another objective is to evaluate the parameter and performance of DSO algorithm. The data evaluation was based on three different environments in the university campus. In this project, the Realsense D435i camera was applied to the RDDRONE-FMUK66 with interface of the Raspberry Pi 3 B+ model to capture the data. This project managed to analyze suitable point values on the active points and gradient parameter setting. The same parameter configuration which concerns on point density and keyframe management have been experimented in the three environment. From this project it is concluded that DSO on UAV can be improved in order to gain a stable data processing to be applied in the algorithm.
format Article
author M. H., Badzli
N., Mohamad Yatim
A., Jamaludin
Z., Mohd Noh
M. I., Idris
N. A., Sulaiman
Nur Aqilah, Othman
author_facet M. H., Badzli
N., Mohamad Yatim
A., Jamaludin
Z., Mohd Noh
M. I., Idris
N. A., Sulaiman
Nur Aqilah, Othman
author_sort M. H., Badzli
title Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV)
title_short Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV)
title_full Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV)
title_fullStr Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV)
title_full_unstemmed Visual Simultaneous Localization and Mapping Using Direct-Based Method for Unmanned Aerial Vehicle (UAV)
title_sort visual simultaneous localization and mapping using direct-based method for unmanned aerial vehicle (uav)
publisher SIGMA BOT
publishDate 2023
url http://umpir.ump.edu.my/id/eprint/39638/1/Visual%20Simultaneous%20Localization%20and%20Mapping%20Using%20DirectBased%20Method%20for%20Unmanned%20Aerial%20Vehicle%20%28UAV%29.pdf
http://umpir.ump.edu.my/id/eprint/39638/
http://www.red.pe.org.pl/abstract_pl.php?nid=13826&lang=1
_version_ 1822923984349429760
score 13.23243

Similar Items