Recently, drones have had a significant accelerations in their development. Thanks to the evolution of computer vision techniques, autonomous navigation has advanced significantly, using GPS and IMU measurements as initial state estimation and refining it with computer vision.
PEGAsUS consists of incorporating a camera to the drone to make automatic control decisions based on the extracted information. The main objectives of the project are to improve the precision of estimated pose, and to detect obstacles in order to avoid collisions.
Existing drones lack the necessary precision to navigate around a complex structure.
Lack of precision in the real-time 3D reconstruction of nearby object hinders the navigation around complex structures.
Embedded vision based navigation and real-time 3D reconstruction software for a precise and reliable navigation around structures.