Title: Small-UAS Navigation Using 3D Imager and Infrared Camera in Structured Environments
Author(s): Akshay Bharadwaj, Adam Schultz, Russell Gilabert, Joel Huff, and Maarten Uijt de Haag
Published in: Proceedings of IEEE/ION PLANS 2016
April 11 - 14, 2016
Hyatt Regency Hotel
Savannah, GA
Pages: 599 - 606
Cite this article: Bharadwaj, Akshay, Schultz, Adam, Gilabert, Russell, Huff, Joel, de Haag, Maarten Uijt, "Small-UAS Navigation Using 3D Imager and Infrared Camera in Structured Environments," Proceedings of IEEE/ION PLANS 2016, Savannah, GA, April 2016, pp. 599-606.
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Abstract: This paper discusses a positioning and navigation algorithm to support autonomous flight of a small-size unmanned aircraft system in a structured GNSS-denied environment during a maintenance mission. The proposed method is based on the integration of depth imagery and outputs from an inertial measurement unit (IMU). In addition, 2D images of a low resolution long-wave IR (LWIR) sensor are used to aid the navigation process and support the maintenance mission by creating a thermal map of the indoor environment. A platform has been built with the appropriate sensors and data has been collected. The paper describes the methodology, the test platform and some preliminary results from mostly the preprocessing steps.