We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The landing algorithm is integrated with algorithms for visual acquisition of the target (a helipad) and navigation to the target, from an arbitrary initial position and orientation. We use vision for precise target detection and recognition, and a combination of vision and Global Positioning System for navigation. The helicopter updates its landing target parameters based on vision and uses an onboard behavior-based controller to follow a path to the landing site. We present significant results from flight trials in the field which demonstrate that our detection, recognition, and control algorithms are accurate, robust, and repeatable.


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    Title :

    Visually guided landing of an unmanned aerial vehicle


    Contributors:

    Published in:

    Publication date :

    2003


    Size :

    10 Seiten, 25 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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