Detecting and Localizing Objects on an Unmanned Aerial System (UAS) Integrated with a Mobile Device
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Authors
Kim, Jinho
Lin, Kevin
Nogar, Stephen M.
Larkin, Dominic
Korpela, Christopher M.
Issue Date
2021-06-15
Type
proceedings-article
Language
Keywords
Location awareness , Visualization , Navigation , Systems architecture , Real-time systems , Mobile handsets , Object recognition
Alternative Title
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.
Description
Citation
J. Kim, K. Lin, S. M. Nogar, D. Larkin and C. M. Korpela, "Detecting and Localizing Objects on an Unmanned Aerial System (UAS) Integrated with a Mobile Device," 2021 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2021, pp. 738-743, doi: 10.1109/ICUAS51884.2021.9476850.
Publisher
IEEE