Autonomous Drone Navigation using Monocular Camera and Light Weight Embedded System

Kumar, RH and Vanjare, AM and Omkar, SN (2023) Autonomous Drone Navigation using Monocular Camera and Light Weight Embedded System. In: nd International Conference for Advancement in Technology, ICONAT 2023, 24 - 26 January 2023, Goa.

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Abstract

Autonomous robots are machines that can act without any human interference. When certain sensors and decision making algorithms are added to the control unit of a drone, the aerial vehicle is said to be autonomous. Such vehicles are capable of avoiding obstacles and correcting their local paths while staying on planned global paths. Autonomy in drones is usually achieved using many types of sensors like depth sensor, stereo camera or lidar, and intensive SLAM algorithms that require powerful processors. Though the existing methods work well, the scalability of such products is questionable as the economic and resource availability factors come into play. This paper proposes a method of achieving autonomous navigation using light weight embedded system and affordable monocular cameras by combining features of image processing and resource sharing. The proposed architecture makes use of monocular cues and midas depth estimation model to achieve obstacle avoidance and can run on any processor with basic features such as serial communication, wifi and camera ports.

Item Type:	Conference Paper
Publication:	2023 International Conference for Advancement in Technology, ICONAT 2023
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright of the article belongs to the Authors.
Keywords:	Air navigation; Antennas; Cameras; Decision making; Embedded systems; Optical radar; Robots; Stereo image processing; Autonomous navigation; Control unit; Decision-making algorithms; Embedded-system; Human interference; Light weight; Mida; Monocular cameras; Monocular vision; Multi-threading; Drones
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	13 Jun 2023 06:24
Last Modified:	13 Jun 2023 06:24
URI:	https://eprints.iisc.ac.in/id/eprint/81854

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