Abstract
Autonomous fixed-wing UAV landing based on differential GPS is now a mainstream providing reliable and precise landing. But the task still remains challenging when GPS availability is limited like for military UAVs. We discuss a solution of this problem based on computer vision and dot markings along stationary or makeshift runway. We focus our attempts on using infrared beacons along with narrow-band filter as promising way to mark any makeshift runway and utilize particle filtering to fuse both IMU and visual data. We believe that unlike many other vision-based methods, this solution is capable of tracking UAV position up to engines stop. System overview, algorithm description, and its evaluation on synthesized sequence along real recorded trajectory are presented.
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Acknowledgments
This work was supported by the Ministry of Education and Science of the Russian Federation (RFMEFI60714X0088) agreement for a grant on “Development of methods and means of processing and intelligent image analysis and flow of data obtained from a set of stationary and mobile sensors, using high-performance distributed computing for the tasks of monitoring the indoor placement and adjacent outdoor territories.”
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Khithov, V., Petrov, A., Tishchenko, I., Yakovlev, K. (2017). Toward Autonomous UAV Landing Based on Infrared Beacons and Particle Filtering. In: Kim, JH., Karray, F., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 4. Advances in Intelligent Systems and Computing, vol 447. Springer, Cham. https://doi.org/10.1007/978-3-319-31293-4_43
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DOI: https://doi.org/10.1007/978-3-319-31293-4_43
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