Yazar "Hamad, Amer Mukhlif" seçeneğine göre listele

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    Öğe
    Localization and identification of UAVs system using image processing
    (Institute of Electrical and Electronics Engineers Inc., 2022) Hamad, Amer Mukhlif; Alaiwi, Yaser
    Unmanned aerial vehicles (UAVs) are widely used nowadays for photography, surveillance, mapping and research purposes. These aircrafts control relies on monitoring their location by constantly combining accelerometers inertial navigation system (INS) with satellite communication (GPS). The latter is usually referred to as localization. Alas, a UAV navigation system that relies on GPS is vulnerable to signal failure or initiated interruptions. In this study we will propose a new approach to use the camera installed on the device for localization purposes, such that it could be used as an alternative when the satellite navigation system malfunctions, and/or be easily incorporated into a sensor fusion framework. We will present a vision-based localization method that finds the location of a camera by first comparing the observed image to an orthophoto map and then, using simple geometric approach to localize the camera. The method includes projecting the outer shape of the observed frame onto the map image plane using the fundamental matrix. Then, the camera geolocation is obtained from a simple geometric relation with the frame shape. This research includes a background overview in image processing, and a mathematical analysis of the problem that the project intends to solve. Furthermore, the proposed solution is presented followed by a preliminary simulation which compares our first results to other well-known methods. Then, a description of the algorithm that was used to implement our method is presented, including flowcharts and explanation on its various phases.
  • [ X ]
    Öğe
    Modelling, simulation and localization of linear control for asymmetric multirotor unmanned aerial vehicles
    (Altınbaş Üniversitesi / Lisansüstü Eğitim Enstitüsü, 2022) Hamad, Amer Mukhlif; Alaiwi, Yaser
    Automated airborne vehicles (UAVs) are progressively being utilized for photography, reconnaissance, planning, and examination. The control of these airplanes depends on continually checking their area by consolidating accelerometers, inertial route frameworks (INS), and satellite correspondence (GPS). The last option is ordinarily known as confinement. Sadly, a GPS-based UAV route framework is defenseless against signal disappointment or deliberate interferences. In this review, we will propose another way to deal with involving the gadget's camera for limitation, so it tends to be utilized as an elective when the satellite route framework fizzles, or potentially be effortlessly integrated into a sensor combination system. We will introduce a dream-based confinement strategy that finds a camera by first contrasting the noticed picture with an orthophoto guide and afterward limiting the camera utilizing a straightforward mathematical methodology. Utilizing the key grid, the strategy includes extending the external state of the noticed edge onto the guide picture plane. The camera geolocation is then determined utilizing a basic mathematical relationship with the edge shape. This study incorporates a prologue to picture handling as well as a numerical investigation of the issue that the undertaking plans to tackle. What's more, the proposed arrangement is introduced, trailed by a primer reenactment that looks at our fundamental outcomes to those of other notable techniques. Then, a description of the algorithm that was used to implement our method is presented, including flowcharts and explanation on its various phases.