Autonomous navigation and localization of a quadrotor in an indoor environment

Young Min Ahn, Daniel J. Block, Ramavarapu S. Sreenivas

Research output: Contribution to journalArticlepeer-review


This paper describes an inertial navigation and vanishing point methodology that has been implemented using artificially placed landmarks and the sensors on board a quadrotor for autonomous navigation in a Global- Positioning-System-denied known, indoor environment. The drift in yaw was regulated using a downward-facing camera, and landmarks were placed at strategic locations. The heading was determined by the vanishing point in the image sensed by the forward-facing camera, which also helped to reduce the number of landmarks necessary for autonomous flight. The results presented in this paper suggest that the data from onboard inertial measurement units, combined with the localization method described in this paper, are sufficient to achieve autonomous indoor navigation.

Original languageEnglish (US)
Pages (from-to)699-709
Number of pages11
JournalJournal of Aerospace Information Systems
Issue number12
StatePublished - 2015

ASJC Scopus subject areas

  • Aerospace Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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