@inproceedings{0d38218ec5d74befb561ce3ea11cf224,
title = "Autonomous Customized Quadrotor With Vision-Aided Navigation For Indoor Flight Challenges",
abstract = "Singapore Amazing Flying Machine Competition (SAFMC) 2021 is an annual indoor unmanned aerial vehicle (UAV) students competition in Singapore. Participants design, build and fly their UAV platforms. Here we designed, built and flew autonomous quadrotor, equipped with vision-aided navigation capacity for the indoor flight challenges D2. We utilized the well-known and available vision-aided navigation tools from OpenCV, i.e. color detection, edge detection, QR-code detection and circle detection. The camera used are Zed-M and OpenMV to assist in depth estimation. We design and integrate our own Visual-Inertial Odometry (VIO) system and based on ROS architecture on Intel Xavier companion computer and talk to Pixhawk flight controller, and perform several tasks in SAFMC 2021. For indoor flights, the drone could perform and complete all missions. We also conduct outdoor flights and the drone could fly well with vision-aided navigation for waypointing and obstacles avoidances.",
keywords = "Circle Detection, Color Detection, Customized quadrotor, Edge Detection, Intel Xavier, Pixhawk, QR-code detection, ROS, SAFMC 2021, Vision-aided navigation, Visual-Inertial Odometry",
author = "Wang Yongtian and Jie, {Toh Yan} and Seo Gimin and Kenny, {Leck Bing Yu} and Sutthiphong Srigrarom",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022 ; Conference date: 10-02-2022 Through 12-02-2022",
year = "2022",
doi = "10.1109/ICMRE54455.2022.9734105",
language = "English",
series = "2022 8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "33--37",
booktitle = "2022 8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022",
address = "United States",
}