Unmanned Aerial Vehicles (UAVs) technology has enabled the design of many diverse applications in recent years. The development of autonomous landing methods has become a core task, as UAV’s navigate in remote and usually unknown environments. In this study we present a vision-based autonomous landing system for UAVs equipped with a stereo camera and an inertial measurement unit (IMU). We utilize stereo processing to acquire the 3D reconstruction of the scene. Next, we evaluate and quantity into map-metrics the factors of the terrain that are crucial for a safe landing. The optimal landing site in terms of flatness, steepness and inclination across the scene is chosen. The pose estimation is obtained by the fusion of stereo ORB-SLAM2 measurements with data from the inertial sensors, assuming no GPS signal. We evaluate the utility of our system using a multifaceted dataset and trials in real-world environments.
Autonomous vision-based landing of UAV’s on unstructured terrains
2021-08-11
9430271 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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