Monocular Visual SLAM with 256-Bit Encryption on UAV

Abstract

Abstract: Monocular Visual Slam with 256-Bit Encryption on UAV is based on the concept of Fault Tolerance Control System which is very crucial for the safety of critical systems such as quadrotors. Although, this method relies on external sensors, such as GPS or motion capture systems for state estimation. In this project, we propose the algorithm that combines fault tolerance control and onboard vision-based state estimation to achieve position control of a quadrotor subjected to complete failure of one rotor. It will use the video feed as input to create 2D pose estimation graph which will help it to pinpoint its location. In order to perform the VIO i.e., Visual Inertial Odometry, we need to combine the IMU sensor reading with the data coming from the monocular camera. To use VIO, PX4 Enabled flight controller needs to communicate with the companion computer via UART pin using MAVROS. Due to this, it will be an effective device in GPS denied environment. Its design will also allow the system to follow its set trajectory even after the rotor failure. And at last, the digital data transmission will take place in an encrypted format with AES-256 encryption to back up the data securely. We believe that our approach will render autonomous quadrotors safer in both GPS denied or degraded environment. Keywords: AES-256, Encryption, Visual SLAM, Visual Inertial Odometry, IMU