NDLI: A single-camera feature-based vision system for helicopter autonomous landing

Content Provider	IEEE Xplore Digital Library
Author	Cesetti, A. Frontoni, E. Mancini, A. Zingaretti, P. Longhi, S.
Copyright Year	2009
Description	Author affiliation: Dipartimento di Ingegneria Informatica Gestionale e dell'Automazione of Università Politecnica delle Marche, Ancona - Italy (Cesetti, A.; Frontoni, E.; Mancini, A.; Zingaretti, P.; Longhi, S.)
Abstract	In this paper a feature based single camera vision system for the safe landing of an Unmanned Aerial Vehicle (UAV) is proposed. The autonomous helicopter used for tests is required to navigate from an initial to a final position in a partially known environment, to locate a landing area and to land on it. The algorithm proposed for the detection of safe landing areas is based on the analysis of optical flow and of mutual geometric position of different kinds of features, observed from different points of view. Vision allows estimating the position and velocity of a set of features with respect to the helicopter while the onboard, hierarchical, behavior-based control system autonomously guides the helicopter. Results, obtained using real data and a real helicopter in a outdoor scenario, show the appropriateness of the vision-based approach. It does not require any artificial landmark (e.g., helipad), is able to estimate correctly and autonomously safe landing areas and is quite robust to occlusions.
Starting Page	1
Ending Page	6
File Size	628647
Page Count	6
File Format	PDF
ISBN	9781424448555
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-22
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	GPS Gesellschaft
Subject Keyword	Machine vision Helicopters Unmanned aerial vehicles Cameras Testing Aircraft navigation Algorithm design and analysis Geometrical optics Image motion analysis Velocity control
Content Type	Text
Resource Type	Article

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