Zhixin Wu, Peng Han, Ruiwen Yao, Lei Qiao, Weidong Zhang, T. Shen, Min Sun, Yilong Zhu, Ming Liu, Rui Fan
{"title":"Autonomous UAV Landing System Based on Visual Navigation","authors":"Zhixin Wu, Peng Han, Ruiwen Yao, Lei Qiao, Weidong Zhang, T. Shen, Min Sun, Yilong Zhu, Ming Liu, Rui Fan","doi":"10.1109/IST48021.2019.9010264","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":117219,"journal":{"name":"2019 IEEE International Conference on Imaging Systems and Techniques (IST)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE International Conference on Imaging Systems and Techniques (IST)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IST48021.2019.9010264","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
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.
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