Vision based hardware-software real-time control system for autonomous landing of an UAV
Computer Vision and Pattern Recognition
2021-03-30 v1 Systems and Control
Image and Video Processing
Systems and Control
Abstract
In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video stream. In addition, a LiDAR sensor is used to measure the altitude above ground. A heterogeneous Zynq SoC device is used as the computing platform. The solution was tested on a number of sequences and the landing pad was detected with 96% accuracy. This research shows that a reprogrammable heterogeneous computing system is a good solution for UAVs because it enables real-time data stream processing with relatively low energy consumption.
Cite
@article{arxiv.2004.11612,
title = {Vision based hardware-software real-time control system for autonomous landing of an UAV},
author = {Krzysztof Blachut and Hubert Szolc and Mateusz Wasala and Tomasz Kryjak and Marek Gorgon},
journal= {arXiv preprint arXiv:2004.11612},
year = {2021}
}
Comments
7 pages, 9 figures, submitted to MMAR 2020 conference