Autonomous Approach and Landing for a Low-Cost Quadrotor Using Monocular Cameras
نویسندگان
چکیده
In this paper, we propose a monocular vision system for approach and landing using a low-cost micro aerial vehicle (MAV). The system enables an off-the-shelf Parrot AR.Drone 2.0 quadrotor MAV to autonomously detect a landpad, approach it, and land on it. Particularly, we exploit geometric properties of a circular landpad marker in order to estimate the exact flight distance between the quadrotor and the landing spot. We then employ monocular simultaneous localization and mapping (SLAM) to fly towards the landpad while accurately following a trajectory. Notably, our system does not require the landpad to be located directly underneath the MAV.
منابع مشابه
Towards Autonomous Landing of a Quadrotor using Monocular SLAM Techniques
Use of Unmanned Aerial Vehicles have seen enormous growth in recent years due to the advances in related scientific and technological fields. This fact combined with decreasing costs of using UAVs enables their use in new application areas. Many of these areas are suitable for miniature scale UAVs Micro Air Vehicles (MAV) which have the added advantage of portability and ease of deployment. One...
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