There is a strong need for Unmanned Aerial Systems (UAS) that can navigate autonomously using visual information for GPS denied and other degraded environments. In this paper, a system architecture is proposed that utilizes visual-inertial odometry (VIO) and object recognition and localization for a quadrotor UAS. It also incorporates communication with an Android Team Awareness Kit (ATAK) device, allowing users to share situational awareness of the UAS in real-time. The system architecture is validated through experiments in which a human is detected and localized as the object of interest.


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    Titel :

    Detecting and Localizing Objects on an Unmanned Aerial System (UAS) Integrated with a Mobile Device


    Beteiligte:
    Kim, Jinho (Autor:in) / Lin, Kevin (Autor:in) / Nogar, Stephen M. (Autor:in) / Larkin, Dominic (Autor:in) / Korpela, Christopher M. (Autor:in)


    Erscheinungsdatum :

    2021-06-15


    Format / Umfang :

    5067941 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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