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Optimum Camera Position for UAV Vertical Plane Maneuvers
,
M.Sc. Thesis
Sharif University of Technology
;
Malaek, Mohammad Bagher
(Supervisor)
Abstract
This work presents the methodology to investigate Optimum Camera Installation Angle (OCIA)while employing the so called?Vision Based Navigation (VBN)? in urban areas.The approach is suitable for future general aviation aircraft as envisioned in Small Air Transportation System (SATS) as well as Unmanned Aerial Vehicles (UAV).Due to practical constraints, the work is limited to the maneuvers in the vertical plane while conducting Simultaneous Localization and Mapping (SLAM) technique.This technique was originated in robotics and is commonly used to guide both ground based and low speed aerial robots in unknown environments involving different types of obstacles. A variety of camera...