Proceedings ArticleDOI
Relative Pose Estimator based on Semi-Dense Homography for UAV Landing on Moving Target using Monocular Camera
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TLDR
This paper proposes the algorithm that accurately estimates pose by applying the direct method, which does not need to use a given template image, which enables landing in various environments.Abstract:
Autonomous landing has been studied on various types of landing targets. In particular, relative pose estimation between a moving landing target and a UAV is important for stable landing in various environments. Most of the studies on UAV landing for a moving landing target used templates given in advance and feature-based methods to estimate the relative pose between the UAV and the landing target. However, the feature-based methods are vulnerable to ambiguity due to the symmetric shape of the helipad or camera noise. In this paper, we propose the algorithm that accurately estimates pose by applying the direct method. The algorithm does not need to use a given template image, which enables landing in various environments. Since the algorithm does not use the feature-based method, there is no concern about the ambiguity. To evaluate the proposed algorithm, we collect our dataset and confirm that the proposed algorithm is more accurate than the feature-based method.read more
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Proceedings ArticleDOI
Autonomous landing of a VTOL UAV on a moving platform using image-based visual servoing
Daewon Lee,Tyler Ryan,H. Jin Kim +2 more
TL;DR: An image-based visual servoing algorithm to control a vertical-takeoff-and-landing unmanned aerial vehicle while tracking and landing on a moving platform and generates a velocity reference command used as the input to an adaptive sliding mode controller is described.
Journal ArticleDOI
An Approach Toward Visual Autonomous Ship Board Landing of a VTOL UAV
TL;DR: The design and implementation of a vision based autonomous landing algorithm using a downward looking camera and a robust computer vision system to measure the pose of the shipdeck with respect to the vehicle are presented.