Fusion of Sensors for Autonomous UAV Navigation

Abstract

This paper describes an UAV equipped with a control computer, flight controller, Lidar and depth camera. The UAV telemetrically communicates via the Mavlink communication protocol with a ground station where actual data can be monitored, or the drone's mission can be interfered from there. This whole system produces a 2D map and a 3D color map in real time. This data can be used for obstacle avoidance, object recognition, mapping unknown environments, tracking moving objects and autonomous navigation.