Indoor Drone Localization System

I developed an indoor drone localization system for GNSS-denied environments at 15% cost of traditional systems.

Key features:

• Utilized a camera-vision based approach implemented with ROS on an Nvidia Jetson Nano computer
• Integrated with a Pixhawk flight controller
• Achieved accuracy of 30 cm on a multi-rotor drone indoors
• Localized the drone globally by determining the positions of ArUco markers with OpenCV
• Performed coordinate system transformations to determine the global position of the drone for autonomous flight