Research on the availability of vins-mono and orb-slam3 algorithms for aviation
| dc.contributor.advisor | Turan, Metin | |
| dc.contributor.author | Özbek, Burak Kaan | |
| dc.date.accessioned | 2022-11-01T16:40:22Z | |
| dc.date.available | 2022-11-01T16:40:22Z | |
| dc.date.issued | 2021 | |
| dc.department | Enstitüler, Fen Bilimleri Enstitüsü, Bilgisayar Mühendisliği Ana Bilim Dalı | en_US |
| dc.description | Tez (Yüksek Lisans) -- İstanbul Ticaret Üniversitesi -- Kaynakça var. | en_US |
| dc.description.abstract | ÖZET Çoğu insanın hakkında fikir sahibi olduğu seyrüsefer, genellikle karada bir noktadan diğerine nasıl gideleceği hakkında bilgi olarak sahibi olmak olarak bilinir. Seyrüsefer hem sivil hem de askeri havacılığın ilgi alanıdır. GPS aralarında en yaygın olarak kullanılan sensördür. Yüksek doğruluk oranlarına sahip olmasına rağmen kullanım dışı kalabilen bir sensördür. Bu araştırma, GPS’in kullanım dışı kaldığı ortamlarda bir uçağın seyrüseferini sürdürebilmeye odaklanmıştır. Verimlilik açısından literatürde en çok bilinen algoritmalar olan iki görsel-ataletsel navigasyon sistemi, VINS-Mono ve ORB-SLAM3 sistemleri incelenmiş ve performans açısından karşılaştırılmıştır. ORB-SLAM3’ün çeşitli durumlarda VINS-Mono’ya kıyasla iki kat daha iyi performans gösterdiği görülmüştür. Anahtar Kelimeler: Eşzamanlı Konumlandırma ve Haritalama, Görsel-Ataletsel Seyrüsefer, Görsel Odometri, Seyrüsefer. ABSTRACT Navigation is also referred to as knowledge about how to get from one point to another on the ground, which most people have an idea about. For both civil and military aviation, navigation is a field of concern. Therefore, in order to track the aircraft path, we get support from different sensors. GPS is the most commonly used sensor among them. It is a sensor that, although it has high accuracy rates, may be out of service. This study focused on the avaliability of aircraft's navigation in conditions where GPS is not in operation. In terms of efficiency, two visual-inertial navigation systems, VINS-Mono and ORB-SLAM3, which are the most well-known algorithms in the literature, have been examined and compared. In various conditions, it was found that ORB-SLAM3 outperformed the VINS-Mono system almost twice. Keywords: Navigation, Simultaneous Localization and Mapping, Visual-Inertial Navigation, Visual Odometry. İÇİNDEKİLER TABLE OF CONTENTS . i ABSTRACT . ii ÖZET . iii ACKNOWLEDGEMENTS . iv LIST OF FIGURES . v LIST OF TABLES . vi SYMBOLS AND ABBREVIATIONS LIST . vii 1. INTRODUCTION . 1 1. 1. Aviation Overview . 1 1. 2. Problem Statement . 3 2. LITERATURE REVIEW . 6 3. SIMULTANEOUS LOCALIZATION AND MAPPING . 12 3. 1. Localization . 12 3. 2. Mapping . 13 3. 3. Visual SLAM and Visual Odometry . 15 3. 3. 1. Camera modelling and calibration . 16 3. 3. 2. Feature detection . 18 3. 3. 2. 1. Harris corner detector . 18 3. 3. 2. 2. Scale invariant feature transform . 18 3. 3. 2. 3. Speeded-up robust features . 19 3. 3. 2. 4. Features from accelerated segment test . 19 3. 3. 2. 5. Shi-tomasi . 19 3. 3. 2. 6. Oriented FAST and rotated BRIEF . 20 3. 3. 3. Feature tracking . 20 3. 3. 3. 1. Kanade lucas tomasi tracker . 20 3. 3. 4. Data association . 21 3. 3. 5. Random sample consensus . 21 3. 3. 6. Loop closure . 23 4. VISUAL-INERTIAL SLAM . 24 4. 1. Sensor Fusion . 25 4. 1. 1. Sensor types . 25 4. 1. 2. Fusion methods: tightly coupled – loosely coupled . 27 4. 2. VINS-Mono . 27 4. 3. ORB-Slam3 . 32 5. MATERIAL AND METHOD . 34 5. 1. Dataset . 34 5. 2. Evaluation . 34 6. CONCLUSION AND DISCUSSION . 40 REFERENCES . 42 CURRICULUM VITAE . 47 | en_US |
| dc.identifier.endpage | 47 | en_US |
| dc.identifier.startpage | 1 | en_US |
| dc.identifier.uri | https://katalog.ticaret.edu.tr/e-kaynak/tez/88878.pdf | |
| dc.identifier.uri | https://hdl.handle.net/11467/5491 | |
| dc.identifier.yoktezid | 668773 | en_US |
| dc.institutionauthor | Özbek, Burak Kaan | |
| dc.language.iso | en | en_US |
| dc.publisher | İstanbul Ticaret Üniversitesi | en_US |
| dc.relation.publicationcategory | Tez | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Robot görüşü | en_US |
| dc.subject | Robot vision | en_US |
| dc.subject.other | TJ 211.3/Ö93 | en_US |
| dc.title | Research on the availability of vins-mono and orb-slam3 algorithms for aviation | en_US |
| dc.type | Master Thesis | en_US |
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