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license: mit
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# ADIGE 360 — Autonomous Drone Navigation In GPS-denied Environments

<p align="center">
  <img src="adige_logo.png" width="30%"/>
</p>

> *The Adige is the second-longest river in Italy, flowing into the Adriatic Sea. Water always finds its way. So should a drone.*

When a micro-drone loses its communication link in a GPS-denied indoor environment, it must be able to navigate autonomously toward open space — preserving onboard sensor data that would otherwise be lost with the vehicle. Like water finding its path, the drone follows the open space.

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| ![Deutsches Bergbau-Museum Bochum](thumbnails/Deutsches%20Bergbau-Museum%20Bochum.png) | ![Deutsches Rettungsrobotik-Zentrum](thumbnails/Deutsches%20Rettungsrobotik-Zentrum.png) | ![Feuerwehr Dortmund 37 5 Ausbildungszentrum](thumbnails/Feuerwehr%20Dortmund%2037%205%20Ausbildungszentrum.png) |
| ![LWL-Museum Henrichshütte](thumbnails/LWL-Museum%20Henrichsh%C3%BCtte.png) | ![LWL-Museum Zeche Nachtigall](thumbnails/LWL-Museum%20Zeche%20Nachtigall.png) | ![MS Kartcenter Hattingen](thumbnails/MS%20Kartcenter%20Hattingen.png) |
| ![Straßen.NRW Niederrheinbrücke Wesel](thumbnails/Stra%C3%9Fen.NRW%20Niederrheinbr%C3%BCcke%20Wesel.png) | ![Trainingsbergwerk Recklinghausen](thumbnails/Trainingsbergwerk%20Recklinghausen.png) | ![Westfälische Hochschule Gelsenkirchen](thumbnails/Westf%C3%A4lische%20Hochschule%20Gelsenkirchen.png) |

Dataset for the paper:

**A 360-Degree Vision Dataset for Learning Yaw Control on GPS-Denied Micro-UAVs in Disaster-Response-Relevant Environments**  
Niklas Voigt, Hartmut Surmann — Westphalian University of Applied Sciences (WHS)

> Code and dataset will be released upon acceptance.

📦 Code: [https://github.com/RoblabWh/adige-360](https://github.com/RoblabWh/adige-360)