GPS Denied IBVS-Based Navigation and Collision Avoidance of UAV Using a Low-Cost RGB Camera
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866915506449022976 |
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| author | Wang, Xiaoyu Tan, Yan Rui Leong, William Huang, Sunan Teo, Rodney Xiang, Cheng |
| author_facet | Wang, Xiaoyu Tan, Yan Rui Leong, William Huang, Sunan Teo, Rodney Xiang, Cheng |
| contents | This paper proposes an image-based visual servoing (IBVS) framework for UAV navigation and collision avoidance using only an RGB camera. While UAV navigation has been extensively studied, it remains challenging to apply IBVS in missions involving multiple visual targets and collision avoidance. The proposed method achieves navigation without explicit path planning, and collision avoidance is realized through AI-based monocular depth estimation from RGB images. Unlike approaches that rely on stereo cameras or external workstations, our framework runs fully onboard a Jetson platform, ensuring a self-contained and deployable system. Experimental results validate that the UAV can navigate across multiple AprilTags and avoid obstacles effectively in GPS-denied environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_17435 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | GPS Denied IBVS-Based Navigation and Collision Avoidance of UAV Using a Low-Cost RGB Camera Wang, Xiaoyu Tan, Yan Rui Leong, William Huang, Sunan Teo, Rodney Xiang, Cheng Robotics Systems and Control This paper proposes an image-based visual servoing (IBVS) framework for UAV navigation and collision avoidance using only an RGB camera. While UAV navigation has been extensively studied, it remains challenging to apply IBVS in missions involving multiple visual targets and collision avoidance. The proposed method achieves navigation without explicit path planning, and collision avoidance is realized through AI-based monocular depth estimation from RGB images. Unlike approaches that rely on stereo cameras or external workstations, our framework runs fully onboard a Jetson platform, ensuring a self-contained and deployable system. Experimental results validate that the UAV can navigate across multiple AprilTags and avoid obstacles effectively in GPS-denied environments. |
| title | GPS Denied IBVS-Based Navigation and Collision Avoidance of UAV Using a Low-Cost RGB Camera |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2509.17435 |