The project aimed at autonomous indoor and outdoor navigation of an Asctec Pelican quadrotor equipped with GPS, IMU and visual and ultrasonic sensors.
- Implemented SLAM based algorithm SVO (Semi-direct Monocular Visual Odometry) using ROS framework and OpenCV on Asctec Pelican quadrotor to estimate pose in an outdoor environment
- Fused data obtained from GPS, monocular bottom facing camera and IMU using Extended Kalman Filter to refine results
- Simulated a cascade PID position controller of the Quadrotor on Matlab-Simulink