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Multisensorielle Navigation und Kartierung in schwierigen Bedingungen

Robust navigation as well as mapping of the environment are critical for autonomous aerial vehicles. This is especially challenging in poor visual conditions or degraded GNSS. Therefore, this thesis proposes multi-sensor fusion approaches based on FMCW radar, cameras and inertial sensors. These appr...

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Enregistré dans:
Auteur principal: Doer, Christopher
Format: Online
Langue:allemand
Publié: KIT Scientific Publishing 2023
Sujets:
Sensorfusion; Navigation; Kartierung; FMCW-Radar; Thermalkamera; sensorfusion; navigation; mapping; FMCW radar; thermal camera
thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TH Energy technology and engineering::THR Electrical engineering
Accès en ligne:https://library.oapen.org/handle/20.500.12657/61695
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Résumé:Robust navigation as well as mapping of the environment are critical for autonomous aerial vehicles. This is especially challenging in poor visual conditions or degraded GNSS. Therefore, this thesis proposes multi-sensor fusion approaches based on FMCW radar, cameras and inertial sensors. These approaches can cope with such challenging conditions as demonstrated in different scenarios.

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