TY - JOUR
AU - Najjaran, Homayoun
AB - PurposeThe purpose of this paper is to facilitate autonomous landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving/tilting platform using a robust vision-based approach.Design/methodology/approachAutonomous landing of a multi-rotor UAV on a moving or tilting platform of unknown orientation in a GPS-denied and vision-compromised environment presents a challenge to common autopilot systems. The paper proposes a robust visual data processing system based on targets’ Oriented FAST and Rotated BRIEF features to estimate the UAV’s three-dimensional pose in real time.FindingsThe system is able to visually locate and identify the unique landing platform based on a cooperative marker with an error rate of 1° or less for all roll, pitch and yaw angles.Practical implicationsThe proposed vision-based system aims at on-board use and increased reliability without a significant change to the computational load of the UAV.Originality/valueThe simplicity of the training procedure gives the process the flexibility needed to use a marker of any unknown/irregular shape or dimension. The process can be easily tweaked to respond to different cooperative markers. The on-board computationally inexpensive process can be added to off-the-shelf autopilots.
TI - Vision-based pose estimation of a multi-rotor unmanned aerial vehicle
JF - International Journal of Intelligent Unmanned Systems
DO - 10.1108/IJIUS-10-2018-0030
DA - 2019-07-01
UR - https://www.deepdyve.com/lp/emerald-publishing/vision-based-pose-estimation-of-a-multi-rotor-unmanned-aerial-vehicle-XchqiGlpvq
SP - 120
EP - 132
VL - 7
IS - 3
DP - DeepDyve
ER -