Drone navigates indoors without GPS: This project equipped a drone with stereo cameras, lidar, and ultrasonic sensors to navigate autonomously in GPS-denied environments. Cameras + lidar + IMU helped track the drone’s location, while ultrasonic sensors scanned for obstacles. The project even upgraded to fly through windows, using YOLO3 for object detection and obstacle avoidance.

Design

Schematic

Source code

Code

Results

Indoor autonomous waypoints navigation using stereo camera and LiDAR sensor without GPS

video