Research on key technologies of vision driven autonomous flight for multi-rotor UAV
Published in A Thesis Submitted to Southwest University of Science and Technology for the Degree of Master, 2023
Recommended citation: 钟良涛. 视觉数据驱动的多旋翼无人机自主飞行关键技术研究[D].西南科技大学,2023. http://LiangtaoZhong.github.io/files/thesis.pdf
Multi-rotor UAV has been widely studied and applied in academia and industry in recent years due to its simple structure, strong maneuverability, vertical take-off and landing and fixed-point hovering ability. Due to the ability to obtain more accurate positioning information through Global Navigation Satellite System, multi-rotor UAV has made rapid progress in the fields of power inspection, aerial photography, and express delivery. However, for GNSS-limited scenarios, the auton¬omous flight capability of multi-rotor UAV still needs to be further improved. In recent years, with the rapid development of machine vision technology, it is possible for UAV to use low-cost vision sensors to fly autonomously in GNSS-limited scenes. In this thesis, the key technologies of autonomous flight for vision driven multi-rotor UAV are studied.