A low-cost vision-based unmanned aerial system for extremely low-light GPS-denied navigation and thermal imaging
A low-cost vision-based unmanned aerial system for extremely low-light GPS-denied navigation and thermal imaging
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.
1750-1757
Liu, Chang
7c245137-3dbb-41c6-84e6-e40181b25a0d
Nash, John
9ed30d81-10ee-4587-ba6c-d9a31233cbd1
Prior, Stephen
9c753e49-092a-4dc5-b4cd-6d5ff77e9ced
October 2015
Liu, Chang
7c245137-3dbb-41c6-84e6-e40181b25a0d
Nash, John
9ed30d81-10ee-4587-ba6c-d9a31233cbd1
Prior, Stephen
9c753e49-092a-4dc5-b4cd-6d5ff77e9ced
Liu, Chang, Nash, John and Prior, Stephen
(2015)
A low-cost vision-based unmanned aerial system for extremely low-light GPS-denied navigation and thermal imaging.
International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 9 (10), .
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.
Text
A-Low-Cost-Vision-Based-Unmanned-Aerial-System-for-Extremely-Low-Light-GPS-Denied-Navigation-and-Thermal-Imaging.pdf
- Accepted Manuscript
Available under License Other.
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Published date: October 2015
Organisations:
Computational Engineering & Design Group
Identifiers
Local EPrints ID: 399629
URI: http://eprints.soton.ac.uk/id/eprint/399629
PURE UUID: bc0ea60b-598a-4e26-8b87-ea527306cfb4
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Date deposited: 22 Aug 2016 13:03
Last modified: 15 Mar 2024 03:45
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Contributors
Author:
Chang Liu
Author:
John Nash
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