Kim, Jinho (United States Military Academy), Lin, Kevin (United States Military Academy), Nogar, Stephen (U.S. Army Research Laboratory), Larkin, Dominic (United States Military Academy), Korpela, Christopher (United States Military Academy)

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

Scheduled for presentation during the Regular Session "UAS Applications II" (ThB4), Thursday, June 17, 2021, 15:00−15:20, Naoussa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 24, 2024

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.