Novel landmark design of autonomous landing in unmanned aerial vehicle

被引：1

作者：

Chen Y. ^{[1
,2
]}

Liu H.-L. ^{[1
,2
]}

机构：

[1] School of Energy Science and Engineering, University of Electronic Science and Technology of China, Chengdu

[2] Institute for Electric Vehicle Driving System and Safety Technology, University of Electronic Science and Technology of China, Chengdu

来源：

Dianzi Keji Daxue Xuebao/Journal of the University of Electronic Science and Technology of China | 2016年 / 45卷 / 06期

关键词：

Autonomous landing; Landmark; Polar coordinates; Unmanned aerial vehicle;

D O I：

10.3969/j.issn.1001-0548.2016.06.010

中图分类号：

学科分类号：

摘要：

The design and detection of landmark and unmanned aerial vehicle (UAV) pose estimation are key points in the process of UAV autonomous landing based on computer vision. This paper proposes a pose estimation algorithm based on polar coordinates transform and designs a new landmark. Firstly, the polar coordinates transform is applied to the pose estimation algorithm for its related parameters are few and low computational complexity, then a landmark with hemi-toroidal shape is designed. Secondly, the saliency detection algorithm is used to detect the landmark, which is accurate, fast and robust to clutter background. Then the Hough transform algorithm is used to extract the lines of the detected landmark. Lastly, the experimental results show that the landmark is feasible in the process of UAV autonomous landing. © 2016, Editorial Board of Journal of the University of Electronic Science and Technology of China. All right reserved.

引用

页码：934 / 938

页数：4

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