Contributing USMA Research Unit(s)

Robotics Research Center

Publication Date

6-2021

Publication Title

The 2021 International Conference on Unmanned Aircraft Systems (ICUAS 2021)

Document Type

Conference Proceeding

Abstract

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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