Detecting and Localizing Objects on an Unmanned Aerial System (UAS) Integrated with a Mobile Device
Contributing USMA Research Unit(s)
Electrical Engineering and Computer Science, Robotics Research Center
The 2021 International Conference on Unmanned Aircraft Systems (ICUAS 2021)
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.
Kim, Jinho; Lin, Kevin CDT'22; Nogar, Stephen; Larkin, Dominic; and Korpela, Christopher, "Detecting and Localizing Objects on an Unmanned Aerial System (UAS) Integrated with a Mobile Device" (2021). West Point Research Papers. 492.
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