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Computer Science > Robotics

arXiv:1702.02735 (cs)
[Submitted on 9 Feb 2017]

Title:Towards Autonomous UAV Landing Based on Infrared Beacons and Particle Filtering

Authors:Vsevolod Khithov, Alexander Petrov, Igor Tishchenko, Konstantin Yakovlev
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Abstract:Autonomous fixed-wing UAV landing based on differential GPS is now a mainstream providing reliable and precise landing. But the task still remains challenging when GPS availability is limited like for military UAVs. We discuss a solution of this problem based on computer vision and dot markings along stationary or makeshift runway. We focus our attempts on using infrared beacons along with narrow-band filter as promising way to mark any makeshift runway and utilize particle filtering to fuse both IMU and visual data. We believe that unlike many other vision-based methods this solution is capable of tracking UAV position up to engines stop. System overview, algorithm description and it's evaluation on synthesized sequence along real recorded trajectory is presented.
Comments: Final version of the paper as submitted to RiTA 2015 conference
Subjects: Robotics (cs.RO)
Cite as: arXiv:1702.02735 [cs.RO]
  (or arXiv:1702.02735v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1702.02735
Related DOI: https://doi.org/10.1007/978-3-319-31293-4_43

Submission history

From: Konstantin Yakovlev S [view email]
[v1] Thu, 9 Feb 2017 07:57:17 UTC (452 KB)
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Vsevolod Khithov
Alexander Petrov
Igor Tishchenko
Konstantin Yakovlev
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