Therefore, a lightweight camera system is a better solution to enable these vehicles to fly in GPS-denied, complex areas. Laser scanners, which are commonly used for large UAVs, are too heavy for MAVs. Unlike large UAVs, micro air vehicles (MAVs), which are more suitable for these complex environments, are restricted by their payload capacity.

Nevertheless, for a GPS-denied environment such as forests or indoor environments, UAVs once again encounter challenges due to weight restriction, lack of GPS data, and complexity of those environments. This tendency also benefits UAVs and makes it easier and safer to operate during outdoor flight. Recently, the rise of mobile devices makes micro sensors much cheaper and lighter, i.e., camera sensors, Global Positioning System (GPS) and Inertial Measurement Unit (IMU). The primary reason is vehicle hardware limitation, where the performance of the onboard computer and sensors are usually restricted by the maximum vehicle weight. The risk of operating in these complex environments is high due to the difficulty in performing precision mapping for collision prevention. Jacob Willem Langelaan, Committee MemberДЄbstract: Unmanned aerial vehicles (UAVs) are widely used to explore dangerous or unknown areas, i.e., battlefield reconnaissance and collapsed buildings.Eric Norman Johnson, Thesis Advisor/Co-Advisor.Author: Chien, Wen Yu Graduate Program: Aerospace Engineering Degree: Master of Science Document Type: Master Thesis Date of Defense: JCommittee Members:

Occupancy grid mapping unknown posies