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24 December 2013 Ground-based visual guidance in autonomous UAV landing
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Proceedings Volume 9067, Sixth International Conference on Machine Vision (ICMV 2013); 90671W (2013)
Event: Sixth International Conference on Machine Vision (ICMV 13), 2013, London, United Kingdom
Visual guidance has attracted more and more attention in the navigation field thanks to its accuracy and robustness. This paper presents a ground-based visual guidance system for the autonomous Unmanned Aerial Vehicles (UAV) landing. The system consists of two cameras and pan-tilt units (PTU) that mounted on both sides of the runway. In this system, computer vision is adopted for UAV detection and tracking. To be more specific, triangulation, a geometric method in binocular vision, is employed to calculate the 3D coordinates of the UAV in order to provide landing guidance parameters and finally achieve autonomous UAV landing. The 3D positioning principles adopted in ground-based measurement are simulated and verified. The results show that the accuracy can be achieved and relevant requirements are satisfied by ground-based visual guidance.
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Yu Zhang, Lincheng Shen, Yirui Cong, Dianle Zhou, and Daibing Zhang "Ground-based visual guidance in autonomous UAV landing", Proc. SPIE 9067, Sixth International Conference on Machine Vision (ICMV 2013), 90671W (24 December 2013);

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