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Paper Count: 31340
A Low-Cost Vision-Based Unmanned Aerial System for Extremely Low-Light GPS-Denied Navigation and Thermal Imaging
Abstract:This paper presents the design and implementation details of a complete unmanned aerial system (UAS) based on commercial-off-the-shelf (COTS) components, focusing on safety, security, search and rescue scenarios in GPS-denied environments. In particular, The aerial platform is capable of semi-autonomously navigating through extremely low-light, GPS-denied indoor environments based on onboard sensors only, including a downward-facing optical flow camera. Besides, an additional low-cost payload camera system is developed to stream both infra-red video and visible light video to a ground station in real-time, for the purpose of detecting sign of life and hidden humans. The total cost of the complete system is estimated to be $1150, and the effectiveness of the system has been tested and validated in practical scenarios.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1109890Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1558
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