Quadrotors' Low-cost Vision-based Autonomous Landing Architecture on a Moving Platform

@article{Jiang2018QuadrotorsLV,
  title={Quadrotors' Low-cost Vision-based Autonomous Landing Architecture on a Moving Platform},
  author={Jiaqi Jiang and Yuhua Qi and Muhammad Ibrahim and Jianan Wang and Chunyan Wang and Jiayuan Shan},
  journal={2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
  year={2018},
  pages={448-453}
}
In this paper, a low-cost vision-based autonomous landing architecture for an unmanned aerial vehicle (UAV) on a moving platform is presented. First, a novel landing pad was designed for a monocular camera to robustly detect the pad in both high and low altitudes. In order to solve mirror effect and occasional misidentification, a 3D points cluster algorithm for relative position estimation is presented. Second, the dynamics of the quadrotor is simplified for this lading task and a PD… CONTINUE READING

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