Open-source drone navigation
Google Summer of Code projects with ArduPilot.
I was the lead developer for two ArduPilot projects through Google Summer of Code. The 2020 project extended navigation and obstacle-avoidance work with RealSense cameras. The 2019 project integrated visual-inertial tracking for non-GPS navigation.
The research software page contains the current repository links and implementation summaries. ArduPilot’s official documentation describes the ROS and tracking-camera workflow using vision_to_mavros.