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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Multi-rotor unmanned aerial vehicle


    Contributors:


    Publication date :

    2019-04-02


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Multi-rotor space-collaborative multi-pose unmanned aerial vehicle structure

    TANG JINSONG / YE FENG / MAO SHIPING et al. | European Patent Office | 2024

    Free access

    Multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle system

    CHENG TAO / ZHAI LIUYANG / CAI YONGWEI | European Patent Office | 2020

    Free access

    MULTI-ROTOR UNMANNED AERIAL VEHICLE AND MULTI-ROTOR UNMANNED AERIAL VEHICLE SYSTEM

    CHEN TAO / ZHAI LIUYANG / CAI YONGWEI | European Patent Office | 2022

    Free access

    Multi-rotor unmanned aerial vehicle

    LIU YIFEN | European Patent Office | 2025

    Free access

    Multi-rotor unmanned aerial vehicle

    LIU ZHIJUN / ZHANG FENGCHUAN / GUO HONGYAN et al. | European Patent Office | 2024

    Free access