In this paper, an autonomous landing guidance strategy is proposed for quad-UAVs, including landing marker detection, altitude estimation, and adaptive landing commands generation. A double-layered nested marker is designed to ensure that the marker can be captured both in high and low altitudes. A deep learning-based marker detection method is designed where the intersection of union is replaced by the normalized Wasserstein distance in the computation of non-maximum suppression to improve the detection accuracy. The UAV altitude measured by inertial measurement unit is fused with vision-based altitude estimation data to improve the accuracy during the landing process. An image-based visual servoing method is designed to guide the UAV approach to the landing marker. Both simulation and flight experiments are conducted to verify the proposed strategy.


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    Title :

    Autonomous Landing Guidance for Quad-UAVs Based on Visual Image and Altitude Estimation


    Contributors:
    Lingxia Mu (author) / Shaowei Cao (author) / Youmin Zhang (author) / Xielong Zhang (author) / Nan Feng (author) / Yuan Zhang (author)


    Publication date :

    2025




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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