The purpose of this paper is to facilitate autonomous landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving/tilting platform using a robust vision-based approach.

    Design/methodology/approach

    Autonomous landing of a multi-rotor UAV on a moving or tilting platform of unknown orientation in a GPS-denied and vision-compromised environment presents a challenge to common autopilot systems. The paper proposes a robust visual data processing system based on targets’ Oriented FAST and Rotated BRIEF features to estimate the UAV’s three-dimensional pose in real time.

    Findings

    The system is able to visually locate and identify the unique landing platform based on a cooperative marker with an error rate of 1° or less for all roll, pitch and yaw angles.

    Practical implications

    The proposed vision-based system aims at on-board use and increased reliability without a significant change to the computational load of the UAV.

    Originality/value

    The simplicity of the training procedure gives the process the flexibility needed to use a marker of any unknown/irregular shape or dimension. The process can be easily tweaked to respond to different cooperative markers. The on-board computationally inexpensive process can be added to off-the-shelf autopilots.


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    Titel :

    Vision-based pose estimation of a multi-rotor unmanned aerial vehicle


    Weitere Titelangaben:

    Multi-rotor unmanned aerial vehicle


    Beteiligte:


    Erscheinungsdatum :

    02.04.2019


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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