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

Publication Date


Publication Title

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

Document Type

Conference Proceeding


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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