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Vision-based autonomous landing of an unmanned aerial vehicle

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3 Author(s)
Saripalli, S. ; Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA ; Montgomery, J.F. ; Sukhatme, G.

We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The helicopter is required to navigate from an initial position to a final position in a partially known environment based on GPS and vision, locate a landing target (a helipad of a known shape) and land on it. We use vision for precise target detection and recognition. The helicopter updates its landing target parameters based on vision and uses an on-board behavior-based controller to follow a path to the landing site. We present results from flight trials in the field which demonstrate that our detection, recognition and control algorithms are accurate and repeatable

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:3 )

Date of Conference:

2002