%0 Journal Article
	%A Chang Liu and  John Nash and  Stephen D. Prior
	%D 2015
	%J International Journal of Aerospace and Mechanical Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 106, 2015
	%T A Low-Cost Vision-Based Unmanned Aerial System for Extremely Low-Light GPS-Denied Navigation and Thermal Imaging
	%U https://publications.waset.org/pdf/10002835
	%V 106
	%X 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.
	%P 1807 - 1814