Print Email Facebook Twitter Low-memory Visual Route Following for Micro Aerial Vehicles in Indoor Environments Title Low-memory Visual Route Following for Micro Aerial Vehicles in Indoor Environments Author van Dijk, Tom (TU Delft Mechanical, Maritime and Materials Engineering) Contributor McGuire, K.N. (mentor) de Croon, G.C.H.E. (mentor) Campoy Cervera, P. (mentor) Jonker, P.P. (mentor) Degree granting institution Delft University of Technology Programme Mechanical Engineering | BioMechanical Design Date 2017-10-09 Abstract This thesis presents a visual route following method that minimizes memory consumption to the point that even Micro Aerial Vehicles (MAV) equipped with only a simple microcontroller can traverse distances of a few hundred meters. Existing Simultaneous Localization and Mapping (SLAM) algorithms are too complex for use on a microcontroller. Instead, the route is modeled by a sequence of snapshots that can be followed back using a combination of visual homing and odometry. Three visual homing methods are evaluated to find and compare their memory efficiency. Of these methods, Fourier-based homing performed best: it still succeeds when snapshots are compressed to less than twenty bytes. Visual homing only works from a small region surrounding the snapshot, therefore odometry is used to travel longer distances between snapshots. The proposed route following technique is tested in simulation and on a Parrot AR.Drone 2.0. The drone can successfully follow long routes with a map that consumes only 17.5 bytes per meter. Subject navigationroute followingvisual homingodometryindoormicro aerial vehicleMAVunmanned aerial vehicleUAVquadrotorvisionARDroneMAVLAB To reference this document use: http://resolver.tudelft.nl/uuid:82c91d74-6c01-4718-a574-221df210f01a Embargo date 2019-10-09 Part of collection Student theses Document type master thesis Rights © 2017 Tom van Dijk Files PDF van_Dijk_MSc_Thesis_FINAL.pdf 6.9 MB Close viewer /islandora/object/uuid:82c91d74-6c01-4718-a574-221df210f01a/datastream/OBJ/view