Autonomous UAV Landing System Based on Visual Navigation

TL;DR

This paper introduces an autonomous UAV landing system utilizing visual navigation with landmark recognition and dynamic image processing, demonstrating robust and accurate landings on static and moving platforms.

Contribution

The paper proposes a novel visual navigation-based UAV landing system with topological landmarks and dynamic thresholding for improved detection and accuracy.

Findings

Robust and accurate landing on static platforms

Successful landing on moving platforms

Enhanced detection efficiency through dynamic thresholding

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.