This paper presents a novel approach for precise UAV landing using visual sensory data. A new type of fiducial marker called embedded ArUco (e-ArUco) was developed specially for a task of a robust marker detection for a wide range of distances. E-ArUco markers are based on original ArUco markers approach and require only ArUco detection algorithms. The applicability of developed markers was validated using UAV landing experiments in a virtual environment. Both a developed marker and a landing algorithm were implemented within the ROS framework and tested in the Gazebo simulator. According to our virtual experiments, an average landing accuracy was 2.03 cm with a standard deviation of 1.53 cm.


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    Titel :

    Embedded ArUco: a novel approach for high precision UAV landing


    Beteiligte:
    Khazetdinov, Artur (Autor:in) / Zakiev, Aufar (Autor:in) / Tsoy, Tatyana (Autor:in) / Svinin, Mikhail (Autor:in) / Magid, Evgeni (Autor:in)


    Erscheinungsdatum :

    13.05.2021


    Format / Umfang :

    7824297 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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