Vision-Based Navigation System for Unmanned Aerial Vehicles

225 Pages·2017·13.83 MB·English

U C III M
NIVERSIDAD ARLOS DE ADRID
Vision-Based Navigation System for
Unmanned Aerial Vehicles
Author:
Abdulla H. Al-Kaff
Supervisor:
Prof. José María Armingol
Prof. Arturo de la Escalera
Intelligent Systems Lab (LSI)
Department of Systems Engineering and Automation
A dissertation submitted in fulfilment of the requirements
for the degree of Doctor of Philosophy in
Electric Engineering, Electronics and Automation
Leganés, October, 2017

This dissertationhas been approved in partialfulfillment of thedegree of: Doc-
tor of Philosophy by the Department of Systems Engineering and Automation -
PolytechnicSchoolattheUniversidadCarlosIIIdeMadridonOctober5,2017.
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"If the facts do not fit the theory, change the facts."
Albert Einstein

Declaration
I hereby declare that except where specific reference is made to the work of others,
the contents of this dissertation are original and have not been submitted in whole
or in part for consideration for any other degree or qualification in this, or any
otherUniversity. Thisdissertationistheresultofmyownworkandincludesnoth-
ing which is the outcome of work done in collaboration, except where specifically
indicated in the text. This dissertation contains less than 60,000 words including
appendices,bibliography,footnotes,tablesandequationsandhaslessthan100fig-
uresandlessthan30tables.
AbdullaH.Al-Kaff
October,2017

Acknowledgements
Firstly,Iwouldliketoexpressmysinceregratitudeandlovetomyparents,mysis-
terandmybrother;fortheirendlesslove,care,supportandmotivationtoimprove
myselfinmylifeandmywork,Icannotsaythankyouenoughforstayingwithme,
justIloveyou.
Besides,Iwouldliketoexpressmyspecialappreciationandthankstomysuper-
visorsProf. ArturodelaEscaleraandProf. JoséMaríaArmingolforthecontinuous
support of my Ph.D study and related research, for his patience, motivation, and
immense knowledge. His guidance helped me in all the time of research and writ-
ingofthisthesis.
Last but not least, an honorable mention goes to my partners and friends espe-
cially Dr. Fernando García and Dr. David Martín, who supported me in a lot of
things,andincentedmetostrivetowardsmygoal.