{"repo":"ahmedeltaher/Autonomous-drone-navigation","free":true,"listed":false,"github":"https://github.com/ahmedeltaher/Autonomous-drone-navigation","clone":"git clone https://github.com/ahmedeltaher/Autonomous-drone-navigation.git","description":"GPS-Denied Indoor Navigation System for Drones Autonomous drone navigation indoors without GPS using optical flow, IMU, and lidar sensor fusion. Features real-time SLAM, obstacle avoidance, and waypoint missions. Built with PX4/ArduPilot, ROS2, and MAVSDK-Python on Raspberry Pi.","language":"Python","stars":39,"topics":["drone","px4","ros2","slam","autonomous-navigation","gps-denied","indoor-navigation","mavsdk","python","lidar"],"license":null,"category":"self-hosted-apps","readme_excerpt":"GPS-Denied Navigation System Autonomous drone navigation using optical flow, IMU, and lidar when GPS is unavailable. --- 📋 Overview This project enables drones to navigate autonomously in GPS-denied environments with centimeter-level accuracy using multi-sensor fusion and SLAM algorithms. The system is designed for warehouse inspection, search & rescue, and mapping missions. --- 🎯 Features Checklist - [x] Multi-sensor data acquisition (Optical Flow, IMU, Lidar) - [x] Real-time SLAM with occupancy grid mapping - [x] Local & global path planning with obstacle avoidance - [x] PX4 offboard integration via MAVSDK - [x] Vision-based position hold and waypoint navigation - [x] Multi-session mapping (Map Persistence) - [x] Dynamic object filtering - [x] Vision pose estimation for EKF2 - [x] Fail-safe automatic landing - [x] Trajectory tracking with Pure Pursuit --- 🏗️ Feature Breakdown Epic 1: Multi-Sensor Data Acquisition & Fusion Feature ID Feature Name Description Priority ------------ -------------- ------------- ---------- 1.1.1 Optical Flow Integration Real-time velocity estimation from downward-facing camera P0 1.1.2 IMU Data Processing High-frequency pose estimation and vibration filtering P0 1.1.3 2D Lidar SLAM Horizontal plane mapping and localization P0 1.1.4 Sensor Synchronization Microsecond-level timestamp alignment across sensors P1 Epic 2: Real-Time SLAM Engine Feature ID Feature Name Description Priority ------------ -------------- ------------- ---------- 1.1.6 G","default_branch":null,"files":null,"tree":[],"storefront":"/r/ahmedeltaher","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/ahmedeltaher/Autonomous-drone-navigation/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}