The Goal of the project is to enable autonomous navigation of an autonomous UAV in a forest environment to allow UAV and UGV robot teams to identify and eliminate potential triggers of forest fires

Implemented Simultaneous localization and mapping algorithm that utilizes semantic information to enable autonomous navigation of drones

The algorithm utilizes the semantically segmented point cloud and recursively estimates the Diameter at breast height (DBH) of surrounding trees by solving a geometric least squares problem and uses this information to localize the drone and also map the environment