Autonomous UAV Landing System Based on Visual Navigation

In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment easily. In addition, a dynamic thresholding method is developed...

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Bibliographic Details
Published in2019 IEEE International Conference on Imaging Systems and Techniques (IST) pp. 1 - 6
Main Authors Wu, Zhixin, Han, Peng, Yao, Ruiwen, Qiao, Lei, Zhang, Weidong, Shen, Tielong, Sun, Min, Zhu, Yilong, Lin, Ming, Fan, Rui
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2019
Subjects
Cameras
Navigation
Object detection
Shape
Unmanned aerial vehicles
Visualization
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Summary:In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment easily. In addition, a dynamic thresholding method is developed for image binarization to improve detection efficiency. The relative distance in the horizontal plane is calculated according to effective image information, and the relative height is obtained using a linear interpolation method. The landing experiments are performed on a static and a moving platform, respectively. The experimental results illustrate that our proposed landing system performs robustly and accurately.
DOI:10.1109/IST48021.2019.9010264