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We introduce a real-time vision-based guided method for autonomous landing of rotor-craft unmanned aerial vehicle. In the process of designing the pattern of landing target, we have fully taken consideration how to make this easier for simplified identification. A linear algorithm was also applied using a three-dimensional structure estimation, thus achieving a fast frame rate at 25Hz. In addition, multiple view vision technology is utilized to calibrate intrinsic parameters of camera online, so calibration prior to flight is unnecessary and the focus of camera can be changed freely in flight, thus upgrading flexibility and practicality of the method.