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.
- Pub Date:
- April 2020
- Computer Science - Computer Vision and Pattern Recognition;
- Electrical Engineering and Systems Science - Image and Video Processing;
- Electrical Engineering and Systems Science - Systems and Control
- 7 pages, 9 figures, submitted to MMAR 2020 conference