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Civilian Unmanned Aerial Vehicles (UAVs) are becoming more accessible fordomestic use. Currently, UAV manufacturer DJI dominates the market, and theirdrones have been used for a wide range of applications. Model lines such as thePhantom can be applied for autonomous navigation where Global PositioningSystem (GPS) signals are not reliable, with the aid of SimultaneousLocalization and Mapping (SLAM), such as monocular Visual SLAM. In this work,we propose a bridge among different systems, such as Linux, Robot OperatingSystem (ROS), Android, and UAVs as an open-source framework, where the gimbalcamera recording can be streamed to a remote server, supporting theimplementation of an autopilot. Finally, we present some experimental resultsshowing the performance of the video streaming validating the framework.

For the Thrill of it All: A bridge among Linux, Robot Operating System, Android and Unmanned Aerial Vehicles