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Meeting	ACGS Committee Meeting 123 - Santa Fe, NM - March 2019
Agenda Location	7 SUBCOMMITTEE C – AVIONICS AND SYSTEM INTEGRATION 7.3 Vision-based Navigation and Tracking with Small UAS
Title	Vision-based Navigation and Tracking with Small UAS
Presenter	Randy Beard
Affiliation	Brigham Young University
Available Downloads*	presentation
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	This talk will describe our current work on vision based autonomous navigation and tracking using small UAVs. We will overview two on-going projects. The first is relative navigation in GPS degraded environments. There are many applications where GPS is either restricted or denied. We have developed an architecture that uses a relative front end to navigate relative to key frames, and then opportunistically uses GPS measurements and SLAM-style loop closures in a back end process to provide global context. We will show some recent flight results that demonstrate robustness to GPS failure and degradation. The second project that we will discuss is robust tracking of multiple ground based targets from an airborne platform. We will present a new multiple target tracking algorithm that is based on the random sample consensus (RANSAC) algorithm that is widely used in computer vision. A recursive version of the RANSAC algorithm will be discussed, and its extension to tracking multiple dynamic objects will be explained. The performance of R-RANSAC will be compared to state of the art target tracking algorithms in the context of problems that are relevant to UAV applications.