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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    Title :

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


    Contributors:


    Publication date :

    2021-06-15


    Size :

    5067941 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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