TRISTAR: Triple-Signal Stair Recognition and Vision-Only Indoor Navigation for Search-and-Rescue Micro-UAVs
Indoor search-and-rescue (SAR) operations often require rapid situational awareness where GNSS signals are unavailable and human access is difficult or hazardous. While most autonomous aerial systems rely on LiDAR, stereo vision, or specialized depth cameras, such solutions increase both hardware complexity and deployment costs. This paper presents a complete autonomous indoor navigation framework for low-cost unmanned aerial vehicles based exclusively on monocular vision. Implemented on a DJI Tello platform, the system combines monocular depth estimation using Depth Anything V2 with classical computer vision and lightweight deep learning models for scene understanding, victim detection, ...
| Authors | Octavian Gîngu, Stelian Spînu |
|---|---|
| Primary category | cs.CV |
| Published | 4 July 2026 |
| Last updated at source | 4 July 2026 |
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