Vision based hardware-software real-time control system for autonomous landing of an UAV
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.
- Publication:
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arXiv e-prints
- Pub Date:
- April 2020
- DOI:
- 10.48550/arXiv.2004.11612
- arXiv:
- arXiv:2004.11612
- Bibcode:
- 2020arXiv200411612B
- Keywords:
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- Computer Science - Computer Vision and Pattern Recognition;
- Electrical Engineering and Systems Science - Image and Video Processing;
- Electrical Engineering and Systems Science - Systems and Control
- E-Print:
- 7 pages, 9 figures, submitted to MMAR 2020 conference